MPC control and LQ optimal control of a two-link robot arm : a comparative study

Guechi, El-Hadi (author), Bouzoualegh, Samir (author), Zennir, Youcef (author), Blažič, Sašo (author)

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.

• Language: English
• 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
• Year: 2018
• Number of pages: 14 str.
• Numbering: Vol. 6, iss. 3, art. 37
• PID: 20.500.12556/RUL-131638
• UDC: 681.5:007
• ISSN on article: 2075-1702
• DOI: 10.3390/machines6030037
• COBISS.SI-ID: 12165204
• Publication date in RUL: 30.09.2021

Record is a part of a journal

• Title: Machines
• Shortened title: Machines
• Publisher: MDPI
• ISSN: 2075-1702
• COBISS.SI-ID: 17129750

Licences

• License: CC BY 4.0, Creative Commons Attribution 4.0 International
• Link: http://creativecommons.org/licenses/by/4.0/
• 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

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

Projects

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