LQR Controller for Two Link Rigid Manipulator
نویسندگان
چکیده
This paper discusses a multiple input and multiple output (MIMO) model to simulate a two link rigid manipulator. The mathematical modeling of two link rigid manipulator is obtained by using Euler’s Lagranges method.The model is non linear and the response is unbounded. Proportional Integral Derivative (PID) and Linear quadratic regulator(LQR ) are designed and the responses are compared using Matlab and simulink model. It is found that LQR delivers the best response and is well suited for two link rigid manipulator.
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