MPC Control and LQ Optimal Control of A Two-Link Robot Arm: A Comparative Study†
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Date
2018-08-17
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Machines Journals. Machines 2018, 6, 37; doi:10.3390.pp 01-14
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.