Abstract This work addresses the application of implementable stabilizing model predictive control (MPC) strategies to a rotary flexible link (RFL). Despite their practice usefulness and design simplicity, the implementation of these stable MPC controllers with guaranteed feasibility in a real experiment, and dedicated to dynamic features of RFL systems, have not yet been documented by the literature. In contrast to conventional finite-horizon MPC strategies, infinite-horizon MPC (IHMPC) techniques ensure nominal closed-loop stability irrespective of the cost function parameters. Also, if these IHMPC strategies have feasible-optimization problem based formulations, such as implementable ones investigated here, their applicability naturally becomes attractive to the industry. Simulation and experimental results illustrate the usefulness of the implementable stabilizing MPC controllers when compared to non-feasible in practice ones, such as a classical infinite-horizon MPC and a conventional finite-horizon generalized predictive controller, thus ensuring their benefits in terms of performance and computational burden in the context of constrained RFL mechatronic systems.

中文翻译：

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一种适用于旋转柔性连杆的可实现稳定模型预测控制器：一个实验案例研究

摘要 这项工作解决了可实现的稳定模型预测控制 (MPC) 策略在旋转柔性连杆 (RFL) 中的应用。尽管它们的实践有用性和设计简单，但这些稳定的 MPC 控制器的实现在实际实验中具有保证的可行性，并且致力于 RFL 系统的动态特性，尚未被文献记录。与传统的有限范围 MPC 策略相比，无限范围 MPC (IHMPC) 技术可确保标称闭环稳定性，而不管成本函数参数如何。此外，如果这些 IHMPC 策略具有基于可行优化问题的公式，例如这里研究的可实施的公式，它们的适用性自然会对行业产生吸引力。