Title :
LQG/LQR optimal control for flexible joint manipulator
Author_Institution :
Fac. of Electr. Eng., Gh.Asachi Tech. Univ. of Iasi, Iasy, Romania
Abstract :
This paper proposes LQGR/LQG control for trajectory tracking control of flexible joint robotic system. In order to estimate the full variables states, plant uncertainty and disturbances, an estimator is used. The controller does not requires knowledge of plant uncertainty and external disturbances. The perturbation is efficiently compensated by feedback of estimated values.
Keywords :
compensation; feedback; linear quadratic Gaussian control; manipulators; state estimation; trajectory control; uncertain systems; LQG-LQR optimal control; compensation; flexible joint manipulator; flexible joint robotic system; full variables state estimation; plant disturbances; plant uncertainty; trajectory tracking control; value estimation feedback; Equations; Joints; Manipulator dynamics; Mathematical model; Robot kinematics; LQG optimal control; control robust; feedback linearization; flexible manipulator;
Conference_Titel :
Electrical and Power Engineering (EPE), 2012 International Conference and Exposition on
Conference_Location :
Iasi
Print_ISBN :
978-1-4673-1173-1
DOI :
10.1109/ICEPE.2012.6463601
