Design of a controller for trajectory tracking for compliant mechanisms with effective vibration suppression

In this paper, a numerical investigation of the Model Predictive Control strategy applied to flexible-link mechanisms is presented. The mechanisms used for all the tests are a planar five-link mechanisms. The tests are aimed at showing how the proposed control system can be used for the trajectory tracking and the vibration suppression. An analysis of the effects of the choice of tuning parameters is presented as well. The design of the predictive controller is based on a linearized version of an accurate nonlinear dynamic model. The effectiveness of the proposed approach is confirmed by extensive numerical results.