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162696

Optimal Position Control for Linearized Robot Arm.

Article

Last updated: 22 Jan 2023

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Subjects

-

Tags

Computer Engineering and Systems

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.

DOI

10.21608/bfemu.2021.162696

Authors

First Name

Kamel

Last Name

Soliman

MiddleName

-

Affiliation

Associate Professor, Computer & Automatic Control Department, Faculty of Engineering, Mansoura University, Mansoura, Egypt.

Email

-

City

Mansoura

Orcid

-

First Name

Ashraf

Last Name

Zaher

MiddleName

-

Affiliation

Computer & Automatic Control Department., Faculty of Engineering., El-Mansoura University., Mansoura., Egypt.

Email

-

City

Mansoura

Orcid

-

Volume

19

Article Issue

1

Related Issue

23798

Issue Date

1994-03-01

Receive Date

1994-01-10

Publish Date

2020-03-01

Page Start

11

Page End

22

Print ISSN

1110-0923

Online ISSN

2735-4202

Article File

BFEMU_Volume 19_Issue 1_Pages 11-22.pdf

PDF . 453.5kB

Link

https://bfemu.journals.ekb.eg/article_162696.html

Detail API

https://bfemu.journals.ekb.eg/service?article_code=162696

Order

12

Type

Research Studies

Type Code

1,205

Publication Type

Journal

Publication Title

MEJ. Mansoura Engineering Journal

Publication Link

https://bfemu.journals.ekb.eg/

MainTitle

-

Details

Type

Article

Created At

22 Jan 2023