Trajectory tracking control of cable-driven continuum robot based on QPSO-MPC

To solve the problem that it was difficult to control cable-driven continuum robots accurately and smoothly，a model predictive control (MPC) method based on quantum particle swarm optimization (QPSO) was designed to achieve accurate trajectory tracking under constraints． The kinematics model of the continuum robot was established by the mapping relationship among driving space，joint space and working space．The Jacobian matrix derived from the coordinate transformation of the end-effector was discretized to obtain the linear error model of the robot．The dynamic control variables were solved by the QPSO model under system constraints．Operational experiment results show that compared with the traditional MPC，the average error of the designed QPSO-MPC is reduced by 52.64%． © 2023 Huazhong University of Science and Technology. All rights reserved.