Energy Optimal Point-to-Point Motion Using Model Predictive Control

This paper discusses energy optimal point-to-point motion control for linear time-invariant (LTI) systems using energy-optimal Model Predictive Control (EOMPC). The developed EOMPC, which is based on time-optimal MPC, aims at performing energy-optimal point-to-point motions within a required motion time. Energy optimality is achieved by setting the object function of the EOMPC optimization problem equal to the system’s energy losses. The key issue is to utilize the strategy of the prediction horizon to ensure that the motion time is exactly equal to the required motion time. Application of EOMPC on a badminton robot shows the practical applicability of the developed method. In addition, an experimental comparison with time-optimal MPC is provided.