MPC Control and LQ Optimal Control of A Two-Link Robot Arm: A Comparative Study
El-Hadi Guechi,
Samir Bouzoualegh,
Youcef Zennir,
Sašo Blažič
Affiliations
El-Hadi Guechi
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
Samir Bouzoualegh
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
Youcef Zennir
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
Sašo Blažič
Faculty of Electrical Engineering Tržaška 25, University of Ljubljana, Ljubljana 1000, Slovenia
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.
