A comparison between optimal LQR control and LQR predictive control of a planar robot of 2DOF

A. Orteganvidal, F. Salazarnvasquez, A. Rojas-Moreno

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

7 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaProceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781728193779
DOI
EstadoPublicada - set. 2020
Evento27th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020 - Virtual, Lima, Perú
Duración: 3 set. 20205 set. 2020

Serie de la publicación

NombreProceedings of the 2020 IEEE 27th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020

Conferencia

Conferencia27th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2020
País/TerritorioPerú
CiudadVirtual, Lima
Período3/09/205/09/20

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