CLOSED LOOP NONLINEAR OPTIMAL CONTROL OF A 3PRS PARALLEL ROBOT, 128-132.
Hami Tourajizadeh∗ and Oveas Gholami∗∗
Keywords
3PRS parallel robot, optimal control, linear quadratic regulator(LQR), state-dependent Riccati equation (SDRE)
Abstract
Optimal regulation of a 3PRS parallel robot is performed in this
article using closed loop methods. This robot is a three-DOF
parallel robot with high stiffness useful for accurate applications.
An accurate regulation of the robot using robust control while an
objective function such as controlling effort could be minimized
is highly necessary for employing the robot in high-precision ap-
plication. In this article two main optimal controls of a linear
quadratic regulator (LQR) and a state-dependent Riccati equation
(SDRE) are designed and implemented on the proposed robot and
advantages and disadvantages of each approach are analysed. A
minimum amount of controlling effort is calculated for conducting a
robust regulation process using a linear optimal control of LQR and
a nonlinear optimal control of SDRE. To verify the optimality of
the proposed optimal controllers of this article, their performance is
compared with a simple regulator of PID. It is shown that using the
proposed optimal and robust controllers, the desired set point can be
achieved using a minimum amount of energy while the performance
of the mentioned optimal controllers is also compared and analysed.
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