MPC Control and LQ Optimal Control of A Two-Link Robot Arm: A Comparative Study†
| dc.contributor.author | Zennir Youcef | |
| dc.date.accessioned | 2024-06-02T14:02:05Z | |
| dc.date.available | 2024-06-02T14:02:05Z | |
| dc.date.issued | 2018-08-17 | |
| dc.description.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. | |
| dc.identifier.other | 6030037 | |
| dc.identifier.uri | http://dspace.univ-skikda.dz:4000/handle/123456789/1946 | |
| dc.language.iso | en | |
| dc.publisher | Machines Journals. Machines 2018, 6, 37; doi:10.3390.pp 01-14 | |
| dc.title | MPC Control and LQ Optimal Control of A Two-Link Robot Arm: A Comparative Study† | |
| dc.type | Article |
Files
Original bundle
1 - 1 of 1
No Thumbnail Available
- Name:
- MPC_Control_and_LQ_Optimal_Control_of_A_Two-Link_R.pdf
- Size:
- 1.76 MB
- Format:
- Adobe Portable Document Format
License bundle
1 - 1 of 1
No Thumbnail Available
- Name:
- license.txt
- Size:
- 1.71 KB
- Format:
- Item-specific license agreed to upon submission
- Description: