MPC control and LQ optimal control of a two-link robot arm : a comparative study
ID Guechi, El-Hadi (Author), ID Bouzoualegh, Samir (Author), ID Zennir, Youcef (Author), ID Blažič, Sašo (Author)

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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.

Keywords:two-link robot arm, dynamic model, nonlinear control, MPC control, linear quadratic optimal control
Work type:Article
Typology:1.01 - Original Scientific Article
Organization:FE - Faculty of Electrical Engineering
Publication status:Published
Publication version:Version of Record
Number of pages:14 str.
Numbering:Vol. 6, iss. 3, art. 37
PID:20.500.12556/RUL-131638 This link opens in a new window
ISSN on article:2075-1702
DOI:10.3390/machines6030037 This link opens in a new window
COBISS.SI-ID:12165204 This link opens in a new window
Publication date in RUL:30.09.2021
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Shortened title:Machines
COBISS.SI-ID:17129750 This link opens in a new window


License:CC BY 4.0, Creative Commons Attribution 4.0 International
Description:This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.
Licensing start date:01.09.2018

Secondary language

Keywords:robotska roka z dvema prostostnima stopnjama, dinamični modeli, nelinearno vodenje, modelno prediktivno vodenje, linearno kvadratično optimalno vodenje


Funder:Other - Other funder or multiple funders
Funding programme:Ministry of Higher Education and Scientific Research of Algeria
Project number:CNEPRU J0201620140014

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