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Machines 2018, 6(3), 37; https://doi.org/10.3390/machines6030037

MPC Control and LQ Optimal Control of A Two-Link Robot Arm: A Comparative Study

1
Laboratoire d’Automatique de Skikda (LAS), Faculté de Technologie, Département de Génie Électrique, Université 20 Août 1955, BP 26, Route El-Hadaeik, Skikda 21000, Algeria
2
Faculty of Electrical Engineering Tržaška 25, University of Ljubljana, Ljubljana 1000, Slovenia
This paper is an extended version of our paper, Model predictive control of a two-link robot arm, published in the Proceedings of the 2018 International Conference on Advanced Systems and Electric Technologies (IC_ASET), Hammamet, Tunisia, 22–25 March 2018; pp. 409–414.
*
Author to whom correspondence should be addressed.
Received: 6 July 2018 / Revised: 8 August 2018 / Accepted: 14 August 2018 / Published: 17 August 2018
(This article belongs to the Special Issue Advanced Control Systems and Optimization Techniques)
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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. View Full-Text
Keywords: two-link robot arm; dynamic model; nonlinear control; MPC control; linear quadratic optimal control two-link robot arm; dynamic model; nonlinear control; MPC control; linear quadratic optimal control
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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.

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