@inproceedings{9d3b5f5e58d24446b6d64e195ebf337c,
title = "A comparison between optimal LQR control and LQR predictive control of a planar robot of 2DOF",
abstract = "This work employs a LQR (Linear Quadratic Regulator) predictive control as well as a LQR controller to control the angular servomotor positions of a planar robot of 2DOF (2 Degrees of Freedom). The goal of such a pantograph type robot is to manipulate the X-Y positions of a 4-bar linkage end effector using two rotary servo base units connected to two revolute joints. Three unactuated revolute joints complete the five links of the robot. Experimental results demonstrate that the LQR predictive controller performs better than the LQR controller, because the former controller is able to diminish the steady-state error between the Cartesian coordinates with respect to the desired coordinates.",
keywords = "LQR controller, LQR predictive controller, direct kinematics, inverse kinematics, planar robot of 2DOF",
author = "A. Orteganvidal and F. Salazarnvasquez and A. Rojas-Moreno",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 27th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020 ; Conference date: 03-09-2020 Through 05-09-2020",
year = "2020",
month = sep,
doi = "10.1109/INTERCON50315.2020.9220263",
language = "English",
series = "Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "Proceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020",
}