Abstract
This paper addresses a path-tracking problem of robot manipulators with model predictive control (MPC) and disturbance observer (DOB). From the viewpoint of mechatronics, the speed of disturbance rejection in MPC is relatively slow. To overcome the disadvantage, DOB is recently introduced into MPC design. The designed DOB-based MPC scheme is applied to a position control system for two-link manipulator, and compared the DOB-MPC with DOB-normal MPC in experimental results.
