ǂa ǂcomparative study
El-Hadi Guechi (Author), Samir Bouzoualegh (Author), Youcef Zennir (Author), Sašo Blažič (Author)

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.

Keywords

robotska roka z dvema prostostnima stopnjama;dinamični modeli;nelinearno vodenje;modelno prediktivno vodenje;linearno kvadratično optimalno vodenje;two-link robot arm;dynamic model;nonlinear control;MPC control;linear quadratic optimal control;

Data

Language: English
Year of publishing:
Typology: 1.01 - Original Scientific Article
Organization: UL FE - Faculty of Electrical Engineering
UDC: 681.5:007
COBISS: 12165204 Link will open in a new window
ISSN: 2075-1702
Views: 163
Downloads: 64
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Other data

Secondary language: Slovenian
Secondary keywords: robotska roka z dvema prostostnima stopnjama;dinamični modeli;nelinearno vodenje;modelno prediktivno vodenje;linearno kvadratično optimalno vodenje;
Type (COBISS): Article
Pages: str. 1-14
Volume: ǂVol. ǂ6
Issue: ǂno. ǂ3
Chronology: Sep. 2018
DOI: 10.3390/machines6030037
ID: 13595032