MPC Control and LQ Optimal Control of A Two-Link Robot Arm: A Comparative Study†
AbstractThis 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. View Full-Text
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Guechi, E.-H.; Bouzoualegh, S.; Zennir, Y.; Blažič, S. MPC Control and LQ Optimal Control of A Two-Link Robot Arm: A Comparative Study. Machines 2018, 6, 37.
Guechi E-H, Bouzoualegh S, Zennir Y, Blažič S. MPC Control and LQ Optimal Control of A Two-Link Robot Arm: A Comparative Study. Machines. 2018; 6(3):37.Chicago/Turabian Style
Guechi, El-Hadi; Bouzoualegh, Samir; Zennir, Youcef; Blažič, Sašo. 2018. "MPC Control and LQ Optimal Control of A Two-Link Robot Arm: A Comparative Study." Machines 6, no. 3: 37.
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