Abstract: 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.
Guechi et al. REF did a comparative study between a MPC and Linear Quadratic (LQ) optimal control of a two-link robot arm, and the simulation results showed that the proposed MPC gave a better system performance then the LQ optimal control approach.
MPC Control and LQ Optimal Control of A Two-Link Robot Arm: A Comparative Study
Machines
Machines
Computer Science