研究了一种机器人非线性连续预测控制方案 ,其预测模型通过对系统状态进行泰勒级数展开并作适当的截尾处理来获得 ,并通过优化性能指标求得控制律 .与其他非线性模型预测控制相比 ,所得到的控制器具有解析形式 ,方法简单、计算量小、利于在线应用 .仿真结果表明了非线性预测控制器的有效性 . A nonlinear continuous predictive control scheme for robots is studied. The predictive model is obtained by Taylor series expansion of the system state and appropriate truncation, and the control law is obtained by optimizing the performance index.Compared with other nonlinear model predictions Compared with the control, the obtained controller has the analytical form, the method is simple and the calculation is small, which benefits the online application.The simulation results show the effectiveness of the nonlinear predictive controller.