摘要：AbstractThis paper presents the adaptive model predictive controller based on the Kalman filter for a one link flexible manipulator. The Kalman filter is a nonlinear state estimator, used to provide the state feedback for the AMPC model to actively damp the tip vibration while tracking its rigid position. The scope of this study is to evaluate the effectiveness and the robustness of the proposed model. The simulation results show that the Kalman filter is the best choice for flexible manipulator state estimation.
