Trajectory Tracking Control of Two-link Robotic Manipulator Using PID and MPC Controllers
Keywords:
Model Predictive , Proportional Integral, Two-link Robotic , Feedback Linearization , Feed Forward ControlAbstract
Abstract:
This paper discusses the difference between two control strategies for a trajectory tracking control of a two-link robotic manipulator. The design and simulation of the control approaches are based on the development of a nonlinear model for the complex dynamics of the manipulator system. The system modeling is based on Euler-Lagrange equations. The first strategy is a Proportional Integral Derivative (PID) control. Its design is based on the trial and error online tuning method, which is applied directly to control the two-joints of the robotic manipulator. On the other hand, the second strategy is a novel Model Predictive Control (MPC) strategy, which its design is based on feedback linearization analysis technique that utilizes the nonlinear model of the manipulator’s complex dynamics to design a feedback linearization control strategy to work as a primary control loop. Then based on the resulted linear model of feedback linearized system, a linear MPC controller is designed and implemented as a secondary control loop. The results of the experimental simulations showed, particularly by comparing the time responses, that the MPC control strategy has a performance superior to the PID control strategy. Overshoots appeared when using the PID control strategy but they disappeared when the MPC control strategy was applied.
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