Optimizing Reference Model for Disturbance Rejection Controller for 3-DoF Robot Manipulator

• Autorzy: Hoang Duy , Manh Dung Do , Kim Thai Dinh , Le Hai Xuan , Pham Thanh Ngoc , Thai Nguyen Huu , Nguyen Long Mau

Identyfikatory

DOI

10.15439/2022R32

• Języki publikacji: EN

Abstrakty

EN

In this article, an method is proposed combining optimal control for linear system and disturbances observer to control a 3 degree of freedom (3DoF) robot manipulator. By making the tracking error follow a given stable linear reference model through the observer, an optimal controller LQR will be designed to solve the optimization problem for the reference system, thereby leading to good control quality for the original system. The effectiveness of the method is shown through simulation results performed on Matlab/Simulink.

Słowa kluczowe

EN

adaptive control; optimal control; observer; disturbance rejection; manipulator

• Wydawca: Polskie Towarzystwo Informatyczne
• Czasopismo: Annals of Computer Science and Information Systems
• Rocznik: 2022
• Tom: Vol. 33
• Strony: 121--127
• Opis fizyczny: Bibliogr. 18 poz., rys., wykr.

Twórcy

autor

Hoang Duy

• Intenational School Vietnam National University Hanoi, Vietnam

autor

Manh Dung Do

• Intenational School Vietnam National University Hanoi, Vietnam

autor

Kim Thai Dinh

• Intenational School Vietnam National University Hanoi, Vietnam

autor

Le Hai Xuan

• Intenational School Vietnam National University Hanoi, Vietnam

autor

Pham Thanh Ngoc

• Intenational School Vietnam National University Hanoi, Vietnam

autor

Thai Nguyen Huu

• Faculty of Electrical Engineering Vinh University of Technology Education Vinh, Vietnam

autor

Nguyen Long Mau

• Ha Tinh College of Technology Hatinh, Vietnam

Bibliografia

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