Hierarchical multiloop MPC scheme for robot manipulators with nonlinear disturbance observer.

This paper addresses the robust enhancement problem in the control of robot manipulators. A new hierarchical multiloop model predictive control (MPC) scheme is proposed by combining an inverse dynamics-based feedback linearization and a nonlinear disturbance observer (NDO) based uncertainty compensation. By employing inverse dynamics-based feedback linearization, the multi-link robot manipulator was decoupled to reduce the computational burden compared with the traditional MPC method.