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

Povzetek

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.

Ključne besede

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;

Podatki

Jezik: Angleški jezik
Leto izida:
Tipologija: 1.01 - Izvirni znanstveni članek
Organizacija: UL FE - Fakulteta za elektrotehniko
UDK: 681.5:007
COBISS: 12165204 Povezava se bo odprla v novem oknu
ISSN: 2075-1702
Št. ogledov: 163
Št. prenosov: 64
Ocena: 0 (0 glasov)
Metapodatki: JSON JSON-RDF JSON-LD TURTLE N-TRIPLES XML RDFA MICRODATA DC-XML DC-RDF RDF

Ostali podatki

Sekundarni jezik: Slovenski jezik
Sekundarne ključne besede: robotska roka z dvema prostostnima stopnjama;dinamični modeli;nelinearno vodenje;modelno prediktivno vodenje;linearno kvadratično optimalno vodenje;
Vrsta dela (COBISS): Članek v reviji
Strani: str. 1-14
Letnik: ǂVol. ǂ6
Zvezek: ǂno. ǂ3
Čas izdaje: Sep. 2018
DOI: 10.3390/machines6030037
ID: 13595032