Optimal Position Control for Linearized Robot Arm.

Authors

Kamel Soliman, Associate Professor, Computer & Automatic Control Department, Faculty of Engineering, Mansoura University, Mansoura, Egypt.
Ashraf Zaher, Computer & Automatic Control Department., Faculty of Engineering., El-Mansoura University., Mansoura., Egypt.

Corresponding Author

Zaher, Ashraf

Subject Area

Computer and Control Systems Engineering

Article Type

Original Study

Abstract

This paper investigates the lementation of optimal controllers to dynamic control systems and addresses their causality. First, a one-link robot arm system is introduced as the model for which the optimal controller will be designed. This model is used in a discrete linearized for so as to ease the mathematics involved, however no generality is lost due to this simplification as dictated by the obtained results. Then a proposed time-optimal controller is first adopted in which the control requirements are reduced to merely reaching a specified set-point in the shortest possible time. This, of course, gives rise to large control signals that may not be physically attained resulting in a fictitious controller. Then a relaxation is made to overcome this problem by applying a performance index to be minimized through the use of the minimum principle of Pontryagen. Finally, a comparative analysis is briefly made supported by the response curves.

Recommended Citation

Soliman, Kamel and Zaher, Ashraf (2020) "Optimal Position Control for Linearized Robot Arm.," Mansoura Engineering Journal: Vol. 19 : Iss. 1 , Article 2.
Available at: https://doi.org/10.21608/bfemu.2021.162696