A Subfully Actuated System Application: Predictive Control for Multi-RTAC Systems

As a study of subfully actuated system applications, in this paper, the predictive control for the multiple rotational translational actuator (Multi-RTAC) system is investigated from a novel perspective. Based on the mechanism of models and state coupling relations, the connection between the fully actuated system (FAS) with the benchmark under-Actuated multi-RTAC system is established. The multi-RTAC system is derived into the multi-order sub-FAS with a set of singular points. Remarkably, mathematically assigning full actuation to the under-Actuated multi-RTAC system not only greatly simplifies the corresponding complex nonlinear optimization problem during the design of the predictive controller, but also defines the region of exponential attraction (ROEA) of initial values of states by the set of singular points. Meanwhile, the proposed off-line explicit analytical substabilizing predictive controller fundamentally mitigates the computational burden and guarantees the substabilization of the resultant closed-loop system in the ROEA. Finally, the simulation of the triple-RTAC system is given to demonstrate the effectiveness and simplicity of the proposed scheme.