论文标题
使用最佳控制
Modeling and Simulation of a Point to Point Spherical Articulated Manipulator using Optimal Control
论文作者
论文摘要
本文旨在为点轨迹跟踪3度自由表达的操纵器设计最佳稳定控制器。 DH惯例用于获得操纵器的正向和反向运动学。使用Lagrange Euler方法制定操纵器动力学以获得非线性系统。然后将获得的复杂的非线性方程进行线性化，以实现最佳LQR。模拟在MATLAB和SIMULINK中进行，并为各种条件测试了最佳控制器性能，并提出了结果。获得的结果证明了LQR优于常规PID控制。
This paper aims to design an optimal stability controller for a point to point trajectory tracking 3 degree of freedom articulated manipulator. The DH convention is used to obtain the forward and inverse kinematics of the manipulator. The manipulator dynamics are formulated using the Lagrange Euler method to obtain a nonlinear system. The complicated nonlinear equations obtained are then linearized in order to implement the optimal LQR. The simulations are performed in MATLAB and Simulink and the optimal controllers performance is tested for various conditions and the results are presented. The results obtained prove the superiority of LQR over conventional PID control.
