Next Article in Journal
Machine Learning Applications on Agricultural Datasets for Smart Farm Enhancement
Next Article in Special Issue
Nonlinear Model Predictive Control Using Robust Fixed Point Transformation-Based Phenomena for Controlling Tumor Growth
Previous Article in Journal
On the Evaluation of Errors in the Virtual Design of Mechanical Systems
Previous Article in Special Issue
Research on PCBN Tool Dry Cutting GCr15
Open AccessArticle

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
*
Author to whom correspondence should be addressed.
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.
Machines 2018, 6(3), 37; https://doi.org/10.3390/machines6030037
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)
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
Show Figures

Figure 1

MDPI and ACS Style

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.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop