A Unified Hybrid Control Architecture for Multi-DOF Robotic Manipulators
Fuente:
arXiv
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Preprint |
| Published: |
2026
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866914371809050624 |
|---|---|
| author | Qiao, Xinyu Xiong, Yongyang Han, Yu You, Keyou |
| author_facet | Qiao, Xinyu Xiong, Yongyang Han, Yu You, Keyou |
| contents | Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control architecture that integrates model predictive control (MPC) with feedback regulation, together with a stability analysis of the proposed scheme. The proposed approach mitigates the optimization difficulty associated with high-dimensional nonlinear systems and enhances overall control performance. Furthermore, a hardware implementation scheme based on machine learning (ML) is proposed to achieve high computational efficiency while maintaining control accuracy. Finally, simulation and hardware experiments under external disturbances validate the proposed architecture, demonstrating its superior performance, hardware feasibility, and generalization capability for multi-DOF manipulation tasks. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_04988 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Unified Hybrid Control Architecture for Multi-DOF Robotic Manipulators Qiao, Xinyu Xiong, Yongyang Han, Yu You, Keyou Systems and Control Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control architecture that integrates model predictive control (MPC) with feedback regulation, together with a stability analysis of the proposed scheme. The proposed approach mitigates the optimization difficulty associated with high-dimensional nonlinear systems and enhances overall control performance. Furthermore, a hardware implementation scheme based on machine learning (ML) is proposed to achieve high computational efficiency while maintaining control accuracy. Finally, simulation and hardware experiments under external disturbances validate the proposed architecture, demonstrating its superior performance, hardware feasibility, and generalization capability for multi-DOF manipulation tasks. |
| title | A Unified Hybrid Control Architecture for Multi-DOF Robotic Manipulators |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.04988 |