Positioning Control of Robotic Manipulators Subject to Excitation from Non-Ideal Sources

Positioning Control of Robotic Manipulators Subject to Excitation from Non-Ideal Sources

The present work proposes the use of a hybrid controller combining concepts of a PID controller with LQR and a feedforward gain to control the positioning of a 2 DOF robotic arm with flexible joints subject to non-ideal excitations. To characterize the performance of the controls, two cases were stu...

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Bibliographic Details
Main Authors: Angelo M. Tusset, Amarildo E. B. Pereira, Jose M. Balthazar, Frederic C. Janzen, Clivaldo Oliveira, Maria E. K. Fuziki, Giane G. Lenzi
Format: Article
Language:English
Published: MDPI AG 2023-03-01
Series:Robotics
Subjects:
non-ideal systems
feedforward control
PID control
LQR control
robotic manipulators
Online Access:https://www.mdpi.com/2218-6581/12/2/51

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