Project-of-Control-2-DOF-Robot

Nonlinear Model Predictive Control (NMPC) becomes one of the interesting possibilities to provide an optimized solution regarding the previous mentioned aspects. This technical documentation explains many tested approaches for solving Rest-to-Rest control of a 2 DoF Robot problem. By designing such a problem one should considered five main pillar . First, we should find an admissible controls. Second, Mathematical Description of the plant should be available. Third, Performance criterion should be specified. Forth, Plant constrains are very crucial and limiting our solution and must be precisely defined and satisfied by solving. At the end comes the optimal criteria . Three Main Issues arise by designing an NMPC namely, Feasibility, Convergence and Stability. Theses issues decide if we are going to find an optimal solution or not.