20.500.12556/RUL-131638 MPC control and LQ optimal control of a two-link robot arm a comparative study This study examined the control of a planar two-link robot arm. The control approach design was based on the dynamic model of the robot. The mathematical model of the system was nonlinear, and thus a feedback linearization control was first proposed to obtain a linear system for which a model predictive control (MPC) was developed. The MPC control parameters were obtained analytically by minimizing a cost function. In addition, a simulation study was done comparing the proposed MPC control approach, the linear quadratic (LQ) control based on the same feedback linearization, and a control approach proposed in the literature for the same problem. The results showed the efficiency of the proposed method. two-link robot arm dynamic model nonlinear control MPC control linear quadratic optimal control robotska roka z dvema prostostnima stopnjama dinamični modeli nelinearno vodenje modelno prediktivno vodenje linearno kvadratično optimalno vodenje true false true Angleški jezik Slovenski jezik Članek v reviji 2021-09-30 13:44:24 2021-09-30 13:44:24 2022-09-10 04:12:54 0000-00-00 00:00:00 2018 0 0 14 str. iss. 3, art. 37 Vol. 6 Sep. 2018 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.5:007 2075-1702 10.3390/machines6030037 12165204 RAZ_Guechi_El-Hadi_2018.pdf RAZ_Guechi_El-Hadi_2018.pdf 1 9CA3B080480F9E83C6CB64604D5E6E6E 98bdbded8a11f3f6883796f7471af09811d130ff6849568c86977c9c183bd4a2 b0733873-21e3-11ec-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=149018 http://www.mdpi.com/2075-1702/6/3/37 1 7a08d34b-21e3-11ec-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=149017 Fakulteta za elektrotehniko 0 0 0