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

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

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.

• Jezik: Angleški jezik
• Ključne besede: two-link robot arm, dynamic model, nonlinear control, MPC control, linear quadratic optimal control
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FE - Fakulteta za elektrotehniko
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Leto izida: 2018
• Št. strani: 14 str.
• Številčenje: Vol. 6, iss. 3, art. 37
• PID: 20.500.12556/RUL-131638
• UDK: 681.5:007
• ISSN pri članku: 2075-1702
• DOI: 10.3390/machines6030037
• COBISS.SI-ID: 12165204
• Datum objave v RUL: 30.09.2021

Gradivo je del revije

• Naslov: Machines
• Skrajšan naslov: Machines
• Založnik: MDPI
• ISSN: 2075-1702
• COBISS.SI-ID: 17129750

Licence

• Licenca: CC BY 4.0, Creative Commons Priznanje avtorstva 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by/4.0/deed.sl
• Opis: To je standardna licenca Creative Commons, ki daje uporabnikom največ možnosti za nadaljnjo uporabo dela, pri čemer morajo navesti avtorja.
• Začetek licenciranja: 01.09.2018

Sekundarni jezik

• Jezik: Slovenski jezik
• Ključne besede: robotska roka z dvema prostostnima stopnjama, dinamični modeli, nelinearno vodenje, modelno prediktivno vodenje, linearno kvadratično optimalno vodenje

Projekti

• Financer: Drugi - Drug financer ali več financerjev
• Program financ.: Ministry of Higher Education and Scientific Research of Algeria
• Številka projekta: CNEPRU J0201620140014