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Performance Analysis of MPC in the Control of a Simple Motorized Nonlinear Model of a Robotic Leg

by Abdur Raquib Ridwan, Md. Ibnea Sina Bony, Ishtiza Ibne Azad
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 54 - Number 11
Year of Publication: 2012
Authors: Abdur Raquib Ridwan, Md. Ibnea Sina Bony, Ishtiza Ibne Azad
10.5120/8611-2465

Abdur Raquib Ridwan, Md. Ibnea Sina Bony, Ishtiza Ibne Azad . Performance Analysis of MPC in the Control of a Simple Motorized Nonlinear Model of a Robotic Leg. International Journal of Computer Applications. 54, 11 ( September 2012), 19-23. DOI=10.5120/8611-2465

@article{ 10.5120/8611-2465,
author = { Abdur Raquib Ridwan, Md. Ibnea Sina Bony, Ishtiza Ibne Azad },
title = { Performance Analysis of MPC in the Control of a Simple Motorized Nonlinear Model of a Robotic Leg },
journal = { International Journal of Computer Applications },
issue_date = { September 2012 },
volume = { 54 },
number = { 11 },
month = { September },
year = { 2012 },
issn = { 0975-8887 },
pages = { 19-23 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume54/number11/8611-2465/ },
doi = { 10.5120/8611-2465 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T20:55:25.224855+05:30
%A Abdur Raquib Ridwan
%A Md. Ibnea Sina Bony
%A Ishtiza Ibne Azad
%T Performance Analysis of MPC in the Control of a Simple Motorized Nonlinear Model of a Robotic Leg
%J International Journal of Computer Applications
%@ 0975-8887
%V 54
%N 11
%P 19-23
%D 2012
%I Foundation of Computer Science (FCS), NY, USA
Abstract

This paper presents a simple design and analysis of a robotic leg using MPC as a single degree of freedom motion controller. Performance of the Model Predictive Controller is compared with a generic adaptive PID controller. The rotational motion of a simple nonlinear model of a robotic leg is operated by a DC motor [1][2]. A desired rotation of the leg from 90 to 0 degree is taken as the controlling scenario for analyzing the performance of the Model Predictive Controller. This paper also presents the use of Matlab software for the purpose of a simple control system design [3][4]. Although a simple model is taken the concern of a desired angular rotation is solved by the use of MPC as the controller [6][7].

References
  1. "Modeling, control and experimental characterization of microbiorobots" by Mahmut Selman Sakar, Edward B Steager, Dal Hyung Kim, A Agung Julius, MinJun Kim, Vijay Kumar and George J Pappas. The International Journal of Robotics Research 2011 30: 647–658.
  2. Chun HtooAung, KhinThandarLwin, and Yin Mon Myint "Modeling Motion Control System for Motorized Robot Arm using MATLAB", World Academy of Science, Engineering and Technology 42 2008.
  3. Mathworks, 2011.
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  5. MPC toolbox in Simulink, 2011.
  6. D. E. Seborg, T. E. Edgar, D. A. Mellichamp, "Process Dynamics and Control", second ed. , John Wiley, Hoboken, NJ, 2004.
  7. Rawlings, J. B. , Meadows, E. S. , &Muske, K. R. , "Nonlinear model predictive control: A tutorial and survey". ADCHEM'94 Proceedings, Kyoto, Japan (pp. 185,197), 1994.
  8. Qin S. J. and BadgwellT. A,"An overview of nonlinear model predictive control applications", In F. Allg¨ower and A. Zheng, editors, "Nonlinear Predictive Control", pages 369– 393. Birkh¨auser, 2000.
  9. Eduardo F, Camacho and Carlos Bordons: "Model Predictive Control Advanced Textbooks in Control and Signal Processing", Springer Publication, 1998.
  10. Control Systems Engineering by NORMAN S. NISE.
  11. Electric machinery Fundamentals by Chapman.
Index Terms

Computer Science
Information Sciences

Keywords

DC motor Control PID Controller Model Predictive Controller

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