2017 International Conference on Innovations in information Embedded and Communication Systems (ICIIECS)

Optimal Control of 2-Link Underactuated Robot

Manipulator

Amit Kumar, Shrey Kasera, L. B. Prasad

Department of Electrical Engineering, Madan Mohan Malaviya University of Technology
Gorakhpur, India
([email protected], [email protected], [email protected])

Abstract—Robot manipulators are nonlinear multi-link [20-23]. If robot manipulator dynamic model is controllable then
system, having higher disturbances and uncertainties. Thus, the for optimal control Linear Quadratic Regulator (LQR) can be
controlling of robot manipulator is matter of concern. In this designed with the help of feed forward gain. For Linear
paper for deriving the dynamics of robot manipulator Euler Quadratic Regulator (LQR) design feed forward gain can be
Lagrange (EL) method is used. This paper proposes a nonlinear obtained by solving Algebraic Recatti Equation (ARE) [13-19].
optimal control approach of 2-link robot manipulator. At first Because of the dynamic equations of robot manipulators are
stage linearization of robot manipulator is performed at its nonlinear, due to this reason in optimal control of robot
operating point using Taylor series expansion. For optimal manipulator for Linear Quadratic Regulator(LQR) design the
control, Linear Quadratic Regulator (LQR) is designed after
dynamics of robot manipulator should be linearized.
linearization of nonlinear dynamics of 2-link robot. This uses the
feed forward gain to control the robot manipulator and to achieve
In this presented paper section II represent the mathematical
desired position and velocity. This proposed paper shows that modeling of 2-Link robot manipulator and in section III
Linear Quadratic Regulator (LQR) controlled robot manipulator linearization of nonlinear dynamics of robot manipulator is
is locally stable. performed. In section IV for optimal control linear quadratic
regulator is designed, and in section V simulation and results and
Index Terms—Robot manipulator, Euler Lagrange (EL), in VI conclusions are discussed.
Taylor series, LQR.
II. MATHEMATICAL MODELING
I. INTRODUCTION
A. 2-link Robot manipulator
Robots are introduced in industries for increasing
productivity, quality improvement and for replacement of
human in hazardous task. Robot manipulators are multi-link
nonlinear system [1]. Mostly robot manipulators are driven by
actuators which may be electric, hydraulic or pneumatic. Robot
manipulator dynamics describes how in the response of these
actuator forces the robot moves.
In this paper 2-link under actuated planer robot is considered
for discussion of optimal control. Recently much attention has
been taken in the field of robotics to control of mechanical
systems, where the number of control inputs are lesser than that
of generalized co-ordinates, such type of system is known as
under actuated system [2]. The under actuated system also used
in mobile robot systems. For example, manipulator arm is
attached to mobile platform, space platform or sea vehicles. In
this paper the 2-link robot one joint is attached with dc motor for
actuation and other link is un- actuated (no motor is connected
at the joint), the second link is as a simple pendulum and the Fig.1. 2-Link Robot Manipulator
motion of second link is controlled by actuation of first link. In this paper for optimal control of robot considering a 2-link
Under actuated robot manipulator control is the most robot arm which is acting in vertical plane against the
challenging task in robotics [3] because of presence of gravitational force. Here the considered robot arm is in
nonlinearity in dynamics of robot with unity controlling underactuated condition, an actuator is connected with elbow (at
element. Due to occurrence of gravity part robot manipulator joint-2) but no actuator is connected at shoulder (at joint-1) as
dynamics does not identify precise state feedback linearization shown in Fig.1.The most common control task in robot is swing-
[3]. Dynamic of 2-link robot is written in paper by using kinetic up control task in which the elbow (joint-2) torque is used to
and potential energy of links using Euler Lagrange approach balance and transfer the robot arm in vertical arrangement.

‹,(((
2017 International Conference on Innovations in information Embedded and Communication Systems (ICIIECS)

The link mass is concentrated at ݈௔ଵ distance for link-1 and ଶ

‫ܯ‬ଶ ൌ ሺ݉ଶ ሺ݈௔ଶ ൅ ݈ଵ ݈௔ଶ …‘• ߠଶ ሻ ൅ ‫ܫ‬ଶ ሻߠଵሷ ൅ ሺ݉ଶ ݈௔ଶ
ଶ
൅ ‫ܫ‬ଶ ሻߠଶሷ ൅
at ݈௔ଶ distance from link-2 and joint variable vectors are ݈ ݈
݉ଶ ଵ ௔ଶ •‹ ߠ ߠ ሶ
ଶ
൅ ݉ ݈ ݃ܿ‫ݏ݋‬ሺߠ ൅  ߠ ሻ (10)
ଶ ଵ ଶ ௔ଶ ଵ ଶ
‫ ݍ‬ൌ  ሾߠଵ ߠଶ ሿ் and torque vector is ߬ ൌ ሾ‫ܯ‬ଵ ‫ܯ‬ଶ ሿ் , as shown in
figure ߠଵ is shoulder joint angle and ߠଶ is elbow joint angle. The 2-link robot manipulator considered having dc motor is used to
moment of inertia ‫ܫ‬ଵ and ‫ܫ‬ଶ are considered about the pivots.
generate torque at elbow (joint 2) and no motor is used at joint
one (shoulder) [2], thus‫ܯ‬ଵ ൌ Ͳ.
TABLE.1 The equation‫ܯ‬ଵ and‫ܯ‬ଶ can be arranged in matrix vector
Parameters of 2-Link Robot form as follows:
࢓૚ ሺࡷࢍሻ 1
‫ߠ  ܯ ܯ‬ሷ ‫ܪ‬ ‫ܩ‬ ‫ܯ‬
൤ ଵଵ ଵଶ ൨ ቈ ଵ ቉ ൅ ൤ ଵ ൨ ൅ ൤ ଵ ൨ ൌ ൤ ଵ ൨ (11)
࢓૛ ሺࡷࢍሻ 1 ‫ܯ‬ଶଵ ‫ܯ‬ଶଶ ߠଶሷ ‫ܪ‬ଶ ‫ܩ‬ଶ ‫ܯ‬ଶ
ࡵ૚ ሺࡷࢍȀ࢓ ሻ ૛ 0.083 Where
ଶ
‫ܯ‬ଵଵ ൌ ݉ଵ ݈௔ଵ ൅ ݉ଶ ൫݈ଵ ଶ ൅ ݈௔ଶ
ଶ
൅ ʹ݈ଵ ݈௔ଶ …‘• ߠଶ ൯ ൅ ‫ܫ‬ଵ ൅ ‫ܫ‬ଶ ሻ
ࡵ૛ ሺࡷࢍȀ࢓૛ ) 0.33 ଶ
‫ܯ‬ଵଶ ൌ ݉ଶ ሺ݈௔ଶ ൅ ݈ଵ ݈௔ଶ …‘• ߠଶ ሻ ൅ ‫ܫ‬ଶ ൌ ‫ܯ‬ଶଵ
ଶ
࢒ࢇ૚ ሺ࢓ሻ 0.5 ‫ܯ‬ଶଶ ൌ ݉ଶ ݈௔ଶ ൅ ‫ܫ‬ଶ
࢒ࢇ૛ ሺ࢓ሻ 1 ‫ܪ‬ଵ ൌ െ݉ଶ ݈ଵ ݈௔ଶ •‹ ߠଶ ߠଶଶሶ െ ʹ݉ଶ ݈ଵ ݈௔ଶ •‹ ߠଶ ߠଶሶ ߠଵሶ
‫ܪ‬ଶ ൌ ݉ଶ ݈௠ଵ ݈ଶ •‹ ߠଶ ߠଵଶሶ
࢒૚ ሺ࢓ሻ 1
‫ܩ‬ଵ ൌ ሺ݉ଵ ݈௔ଵ ൅݉ଶ ݈ଵ ሻ݃ …‘• ߠଵ ൅ ݉ଶ ݈௔ଶ ݃ …‘•ሺ ߠଵ ൅ ߠଶ ሻ
࢒૛ ሺ࢓ሻ 2 ‫ܩ‬ଶ ൌ ݉ଶ ݈௔ଶ ݃ܿ‫ݏ݋‬ሺߠଵ ൅ ߠଶ ሻ
g (mȀ࢙૛ ) 9.8
Dynamic equation of robot can be written as
‫ܯ‬ሺ‫ݍ‬ሷ ሻ ൅ ‫ܪ‬ሺ‫ݍ‬ǡ ‫ݍ‬ሶ ሻ ൅ ‫ܩ‬ሺ‫ݍ‬ሻ ൌ ‫߬ܤ‬ (12)
In this ‫ݍ(ܯ‬ሷ ) is inertia matrix, H (‫ݍ‬ǡ ‫ݍ‬ሶ ) is Coriolis matrix and
centrifugal vector and G(q) belongs to gravity vector of the
B. Equation of Motion manipulator.
The kinematics are given by
݈ •‹ ߠଵ  ݈ ሺ•‹ ߠଵ ൅ ߠଶ ሻ
ܺଵ ൌ ൤ ଵ ൨ And ܺଶ ൌ ܺଵ ൅ ൤ ଶ ൨ (1) III. LINEARIZATION OF NONLINEAR DYNAMICS OF ROBOT
െ݈ଵ …‘• ߠଵ െ݈ଵ …‘•ሺ ߠଵ ൅ ߠଶ ሻ MANIPULATOR
Linearization using Taylor series expansion:
For link-1 kinetic energy is ܶଵ ൌ ‫ܫ‬ଵ ߠଵଶሶ
ଵ
(2)
ଶ Let ‫ݔ‬ଵ ൌ ߠଵ ߠଵሶ ൌ ‫ݔ‬ሶ ଵ ൌ ‫ݔ‬ଷ
And for link-2 kinetic energy is
‫ݔ‬ଶ ൌ ߠଶ ߠଶሶ ൌ ‫ݔ‬ሶ ଶ ൌ ‫ݔ‬ସ
ܶଶ ൌ ሺ݉ଶ ݈ଵ ଶ ൅ ‫ܫ‬ଶ ൅ ʹ݉ଶ ݈ଵ ݈௔ଶ …‘• ߠଶ ሻߠሶଵଶ + ‫ܫ‬ଶ ߠଶଶሶ ൅ ሺ‫ܫ‬ଶ ൅
ଵ ଵ
ଶ ଶ Let us consider in above dynamic equations of robot
݉ଶ ݈ଵ ݈௔ଶ …‘• ߠଶ ሻ ߠଵሶ ߠଶሶ (3) manipulator
ଶ
Now potential energy [4] for link-1 and link-2 is ݉ଵ ݈௔ଵ ൌ ‫׎‬ଵ (13)
ଶ
ܸ ൌ െ݉ଵ ݈݃௔ଵ …‘• ߠଵ െ ݉ଶ ݃ሺ݈ଵ …‘• ߠଵ ൅ ݈ଶ …‘•ሺߠଵ ൅ ߠଶ ሻ (4) ݉ଶ ݈௔ଶ ൌ ‫׎‬ଶ (14)
Lagrangian for entire arm is ݉ଶ ݈ଵଶ ൌ ‫׎‬ଷ (15)
‫ ܮ‬ൌ ሺܶଵ ൅  ܶଶ ሻ െ ሺܸଵ െ ܸଶ ሻ (5) ݉ଶ ݈ଵ ݈௔ଶ ൌ ‫׎‬ସ (16)
ଶ
Thus, we can write Lagrangian equation in the form of ݉ଶ ݈௔ଶ ൅ ‫ܫ‬ଶ ൌ ‫׎‬ହ (17)
‫ ܮ‬ൌ ‫ܫ‬ଵ ߠଵଶሶ ൅ ሺ݉ଶ ݈ଵ ଶ ൅ ‫ܫ‬ଶ ൅ ݉ଶ ݈ଵ ݈௔ଶ …‘• ߠଶ ሻߠଵଶሶ + ‫ܫ‬ଶ ߠଶଶሶ ൅
ଵ ଵ ଵ
݉ଶ ݈௔ଶ ݃ ൌ ‫଺׎‬ (18)
ଶ ଶ ଶ
ሺ݉ଵ ݈௔ଵ ൅݉ଶ ݈ଵ ሻ݃ ൌ ‫଻׎‬ (19)
ሺ‫ܫ‬ଶ ൅ ݉ଶ ݈ଵ ݈௔ଶ …‘• ߠଶ ሻߠଵሶ ߠଶ ሶ ൅ ݉ଵ ݈݃௔ଵ …‘• ߠଵ ݉ଶ ݃ሺ݈ଵ …‘• ߠଵ ൅
Then torque equations can be written as
݈ଶ …‘•ሺߠଵ ൅ ߠଶ ሻ) (6)
‫ܯ‬ଵ ൌ ൫ሺ‫׎‬ଵ ൅ ‫׎‬ଶ ൅ ‫׎‬ଷ ൅ ʹ‫׎‬ସ ܿ‫ݔݏ݋‬ଶ ሻ ൅ ‫ܫ‬ଵ ൅ ‫ܫ‬ଶ ൯ߠଵሷ ൅
According to Euler-Lagrange
ௗ డ௅ డ௅ ሺ‫׎‬ହ ൅ ‫׎‬ସ ܿ‫ݔݏ݋‬ଶ ሻߠଶሷ െ ‫׎‬ସ ‫ݔ݊݅ݏ‬ଶ ‫ݔ‬ସଶ െ ʹ‫׎‬ସ •‹ ‫ݔ‬ଶ ‫ݔ‬ଷ ‫ݔ‬ସ ൅
ቀ ሶ ቁ െ ቀ ቁ ൌ ‫ܯ‬ଵ (7)
ௗ௧ డఏభ డఏభ ‫ݔݏ݋ܿ ଻׎‬ଵ ൅ ‫•‘… ଺׎‬ሺ‫ݔ‬ଵ ൅ ‫ݔ‬ଶ ሻ (20)
ௗ డ௅
ቀ ቁ െቀ
డ௅
ቁ ൌ ‫ܯ‬ଶ (8) ‫ܯ‬ଶ ൌ ሺ‫׎‬ଶ ൅ ‫׎‬ସ ܿ‫ݔݏ݋‬ଶ ൅ ‫ܫ‬ଶ ሻߠଵሷ ൅ ‫׎‬ହ ߠଶሷ ൅ ‫׎‬ସ ‫ݔ݊݅ݏ‬ଶ ‫ݔ‬ଷଶ ൅
ௗ௧ డఏమሶ డఏమ
‫•‘… ଺׎‬ሺ‫ݔ‬ଵ ൅ ‫ݔ‬ଶ ሻ (21)
Because of dc motor is applied at joint -2, so applied torque at
Thus, torque equation can be writtenܽ‫ݏ‬
joint -1is ‫ܯ‬ଵ ൌ Ͳ
‫ܯ‬ଵ ൌ ݉ଵ ݈௔ଵଶ
൅ ݉ଶ ൫݈ଵ ଶ ൅ ݈௔ଶ
ଶ
൅ ʹ݈ଵ ݈௔ଶ …‘• ߠଶ ൯ ൅ ‫ܫ‬ଵ ൅ ‫ܫ‬ଶ ሻߠଵሷ ൅
ሺ݉ଶ ሺ݈௔ଶ ൅ ݈ଵ ݈௔ଶ …‘• ߠଶ ሻ ൅ ‫ܫ‬ଶ ሻߠଶሷ  െ ݉ଶ ݈ଵ ݈௔ଶ •‹ ߠଶ ߠଶଶሶ െ
ଶ
Considering initially at equilibrium ߠଵ ൌ
గ
and ߠଶ ൌ Ͳ then
ʹ݉ଶ ݈ଵ ݈௔ଶ •‹ ߠଶ ߠଶሶ ߠଵሶ ൅ ሺ݉ଵ ݈௔ଵ ൅݉ଶ ݈ଵ ሻ݃ …‘• ߠଵ ൅ ଶ
ߠଵሶ ൌ Ͳ and ߠଶሶ ൌ Ͳ
݉ଶ ݈௔ଶ ݃ …‘•ሺ ߠଵ ൅ ߠଶ ሻ (9)
Then final state space equation for 2-link robot may be written
as:
2017 International Conference on Innovations in information Embedded and Communication Systems (ICIIECS)

‫ݔ‬ଵ ߠଵ ݂
‫ ۍ ې ߠۍ‬ଵ ‫ې‬
ௗ ‫ݔ‬ଶ ௗ ଶ ݂ଶ
൦ ൪ ൌ ‫ ێ‬ሶ ‫ ۑ‬ൌ ‫ۑ ݂ێ‬ (22) The linearized system matrixes we obtained are:
ௗ௧ ‫ݔ‬ଷ ௗ௧ ‫ߠێ‬ଵ ‫ۑ‬ ‫ێ‬ଷ ‫ۑ‬
‫ݔ‬ସ ሶ
‫ߠ ۏ‬ଶ ‫ے‬ ‫ۏ‬ ݂ ସ‫ے‬
Ͳ Ͳ ͳ Ͳ Ͳ
݂ଵ ൌ ‫ݔ‬ଷ (23) Ͳ Ͳ Ͳ ͳ
݂ଶ ൌ ‫ݔ‬ସ (24) A=൦ ൪ B=቎ Ͳ ቏
ͳʹǤͶͻ െͳʹǤͷͶ Ͳ Ͳ െʹǤͻͺ
ெమ ‫׎‬ర ௦௜௡௫మ ௫యమ ‫׎‬ల ୡ୭ୱሺ௫భ ା௫మ ሻ
݂ଷ ൌ െ െ െ െͳͶǤͶͻ ʹͻǤ͵͸ Ͳ Ͳ ͷǤͻͺ
‫׎‬ఱ ା‫׎‬ర ௖௢௦௫మ ‫׎‬ఱ ା‫׎‬ర ௖௢௦௫మ ‫׎‬ఱ ା‫׎‬ర ௖௢௦௫మ
‫׎‬ఱ ఏమሷ ͳ Ͳ Ͳ Ͳ
(25)
‫׎‬ఱ ା‫׎‬ర ௖௢௦௫మ Ͳ ͳ Ͳ Ͳ
C=൦ ൪ D = [0]
Ͳ Ͳ ͳ Ͳ
‫׎‬ర ௦௜௡௫మ ௫రమ ାଶ‫׎‬ర ௦௜௡௫మ ௫ర ௫య ‫׎‬ళ ௖௢௦௫భ Ͳ Ͳ Ͳ ͳ
݂ସ ൌ െ െ
‫׎‬ఱ ା‫׎‬ర ௖௢௦௫మ ‫׎‬ఱ ା‫׎‬ర ௖௢௦௫మ
‫׎‬ల ୡ୭ୱሺ௫భ ା௫మ ሻ ሺሺ‫׎‬భ ା‫׎‬మ ା‫׎‬య ାଶ‫׎‬ర ௖௢௦௫మ ሻାூభ ାூమ ሻఏభሷ
െ (26) IV.LINEAR QUADRATIC REGULATOR (LQR) DESIGN
‫׎‬ఱ ା‫׎‬ర ௖௢௦௫మ ‫׎‬ఱ ା‫׎‬ర ௖௢௦௫మ
The one well known method of optimal control theory of pole
గ
Linearization about a fixed point ( ǡ Ͳ) with the help of placement method is Linear Quadratic Regulator (LQR) [7].
ଶ
Taylor series expansion is performed using, The optimal pole location can be evaluated by LQR algorithm,
డ௙ డ௙ which is based on the performance index. The optimal
‫ݔ‬ሶ ൌ ݂ሺ‫ݔ‬ǡ ‫ݑ‬ሻ ൎ ݂ሺ‫ כ ݔ‬ǡ ‫ כݑ‬ሻ ൅ ቂ ቃ ሺ‫ ݔ‬െ ‫ כ ݔ‬ሻ ൅ ቂ ቃ ሺ‫ ݑ‬െ ‫ כݑ‬ሻ (27) performance index will be defined firstly in order to find the
డ௫ డ௨
After partial differentiation put x=‫ כ ݔ‬and u=‫כݑ‬ optimal feedforward gain and after that Algebraic Recati
Now assume that, in linearization of robot manipulator Equation(ARE) will be solved [6].
dynamic equation, about the fixed point ݂ሺ‫ כ ݔ‬ǡ ‫ כݑ‬ሻ is zero. To achieve finest performance in according to provided
Then the linearized dynamic equation in state space form is amount of performance, LQR is found to be a best control
‫ݍ‬ሶ method. To minimize the objective function J, LQR controller
‫ݔ‬ሶ =൤ ିଵ ൨ (28)
‫ܯ‬ ሺ‫ݍ‬ሻሾ‫ݑܤ‬ െ ‫ܪ‬ሺ‫ݍ‬ǡ ‫ݍ‬ሶ ሻ‫ݍ‬ሶ െ ‫ܩ‬ሺ‫ݍ‬ሻሿ is designed with the help of a state feedback K. [9-12]. To
‫ݔ‬ሶ ൎ A (‫ ݔ‬െ ‫ ) כ ݔ‬+ B ( ‫ ݑ‬െ ‫) כݑ‬ (29) realize certain negotiation among the application of control
Where determination, magnitude and the rate of response that will
‫ ݔ‬െ ‫ כ ݔ‬ൌ ‫ݔ‬෤ and ‫ ݑ‬െ ‫ כݑ‬ൌ ‫ݑ‬෤ confirms a stable system, the feedback gain matrix is used, as
‫ݔ‬ሶ =‫ܣ‬ሶ‫ݔ‬෤ ൅ ‫ݑܤ‬෤ and ‫ ݕ‬ൌ ‫ݔܥ‬෤ ൅ ‫ݑܦ‬෤ (30) this will minimize the objective function.
After applying Taylor expansion about equilibrium point For continuous time, linear system is described by:
‫ כݑ݀݊ܽ כ ݔ‬,the equation obtained in form of simple state space ‫ݔ‬ሶ ൌ ‫ ݔܣ‬൅ ‫ݑܤ‬And ‫ ݕ‬ൌ ‫ ݔܥ‬൅ ‫ݑܦ‬ (33)
as Cost functional defined as:
Ͳ‫ܫ‬ ‫ ܬ‬ൌ ‫׬‬ሺ‫ ݔܳ ் ݔ‬൅ ‫ݑܴ ்ݑ‬ሻ݀‫ݐ‬ (34)
A= ቈെ‫ିܯ‬ଵ డீ െ‫ିܯ‬ଵ ‫ܥ‬቉ (31) Where Q and R are the weighting matrixes, Q is positive
డ௤
semi definite matrix and R is Positive definite symmetric
And
Ͳ matrix.
B= ቂ ቃ (32) An energy function can be taken as, performance index (J).
െ‫ିܯ‬ଵ ‫ܤ‬
Robot manipulator is in under actuated condition and no motor so, that for minimizing the performance index, the total
is provided at joint-1 thus applied torque at joint one is zero [4]. energy of the closed-loop system should be keeps small. In
Using Jacobian, the matrix A and B also can be written as performance index (J) the control input (u) and the state x
are biased such that to keep performance index (J) is
߲݂ଵ ߲݂ଵ ߲݂ଵ minimum, control input u and state x can’t be too large.
ǥ Performance index (J) is surely finite if it is minimized and
‫ݔ߲ۇ‬ଵ ߲‫ݔ‬ଶ ߲‫ݔ‬௡ ‫ۊ‬
since it is an infinite integral of x, this is implying that as
‫ۈ‬ ߲݂ଶ ߲݂ଶ ߲݂ଶ ‫ۋ‬
‫ ܣ‬ൌ ‫ ݔ߲ ݔ߲ۈ‬ǥ ߲‫ ۋ ݔ‬ȁ‫ כ ݔ‬ǡ ‫כݑ‬ time t tends to infinity the x tends to zero. It turns that the
ଵ ଶ ௡ closed loop system will be guaranteed stable.
‫ۈ‬ǥ ǥ ǥ ǥ ǥ ǥ ǥ ǥ ǥ Ǥ‫ۋ‬
߲݂௡ ߲݂௡ ߲݂௡ The positive semi definite matrices Q (of nxn) and
ǥ positive definite matrix R (of m×m) are chosen by the design
‫ݔ߲ۉ‬ଵ ߲‫ݔ‬ଶ ߲‫ݔ‬௡ ‫ی‬
߲݂ଵ ߲݂ଵ ߲݂ଵ engineer. Depending on how these design parameters are
ǥ selected, the closed-loop system will present different
߲‫ܯ‬
‫ ۇ‬ଵ ߲‫ܯ‬ଶ ߲‫ܯ‬ ௠‫ۊ‬
response.
‫݂߲ ۈ‬ଶ ߲݂ଶ ǥ ߲݂ଶ ‫כ כ ۋ‬ To keep performance index J minimum, if design engineer
‫ ܤ‬ൌ ‫ܯ߲ ܯ߲ۈ‬ ߲‫ܯ‬௠ ‫ ۋ‬ȁ‫ ݔ‬ǡ ‫ݑ‬
ଵ ଶ select Q large enough then the state x is minimum minimum
‫ ۈ‬ǥǥǥǥǥǥǥǥǥǤ ‫ۋ‬ and the control input u must be small when the R is selected
߲݂௡ ߲݂௡ ߲݂௡
ǥ large. This mean that, the larger values of Q result are
‫ܯ߲ۉ‬ଵ ߲‫ܯ‬ଶ ߲‫ܯ‬௠ ‫ی‬
2017 International Conference on Innovations in information Embedded and Communication Systems (ICIIECS)

closed-loop system matrix ሺ‫ ܣ‬െ ‫ܭܤ‬ሻ poles are lie in left of ܲଵଶ ൌ ܲଶଵ ǡ ܲଷଵ ൌ ܲଵଷ ǡ ܲଷଶ ൌ ܲଶଶ ǡ ܲସଶ ൌ ܲଶଷ ǡ ܲଷସ ൌ ܲସଷ 
the s-plane, so that the state decays to zero [19].
Scalar quantity‫ ݔܳ ் ݔ‬is always positive or zero for all ͳǤʹͷͳ͵ ͲǤͷͷͺͻ ͲǤͷͶ͸ͻ ͲǤʹ͸ͺͷ
functions x at each time t, if selected Q is positive semi- ܲ ൌ ͳǤͲ݁ ൅ ͲͶ ‫ כ‬቎ͲǤͷͷͺͻ ͲǤʹͷͳͳ ͲǤʹͶͶͷ ͲǤͳʹͲʹ቏
definite. If R is positive definite then the scalar quantity ͲǤͷͶ͸ͻ ͲǤʹͶͶͷ ͲǤʹ͵ͻͳ ͲǤͳͳ͹Ͷ
‫ ݑܴ ்ݑ‬is always positive for all values of control u at each ͲǤʹ͸ͺͷ ͲǤͳʹͲʹ ͲǤͳͳ͹Ͷ ͲǤͲͷ͹͹
time t. This guarantees that in term of eigenvalues, the
eigenvalues of R should be positive and eigenvalues of Q ͳ Ͳ Ͳ Ͳ
should be non-negative. The matrices Q and matrix R should Ͳ ͳ Ͳ Ͳ
Here considering Q=൦ ൪ and R = [1]
be selected diagonally and all elements of matrix R and Ͳ Ͳ ͳ Ͳ
matrix Q must be chosen positive, may be probability of few Ͳ Ͳ Ͳ ͳ
zeros on its diagonal and it is note that the matrix R is must
be invertible [19]. Using equation ‫ ܭ‬ൌ ܴିଵ ‫ ܲ ்ܤ‬optimal control gain K can be
obtained as:
LQR Theorem 1: The closed loop system (A-BK) must be ݇ ൌ ሾെʹͶʹǤͷʹ െͻ͸Ǥ͵͵ െͳͲͶǤͷͻ െͶͻǤͲͷሿ
asymptotically stable if the system (A, B) is reachable and if and by using MAT Lab command
matrix Q is a positive semi definite matrix and matrix R is [P, s, K] = care (A, B, Q, R) the poles of the system can be
positive definite matrix. [19]. obtained as
‫ ݏ‬ൌ െͳͲǤʹͶʹ͹ǡ െ͵Ǥ͸ͷ͹͹Ǥ െʹǤʹͺͷͷǡ െʹǤͳͻ͸͸
LQR Theorem 2: The closed loop system (A-BK) must be Here all poles of system are lie in left half of s-plane, thus it
asymptotically stable if the system (A, B) is stabilizable and can be say that system is stable.
(A, Q) is observable and if R is positive definite matrix and
Q is positive semi definite matrix [19].
V. SIMULATION AND RESULTS

Fig.3. LQR control Robot Manipulator

Fig.2. Linear Quadratic Regulator

Feedback control law for state is

‫ ݑ‬ൌ െ‫ݔܭ‬ (35)
Tends to ‫ݔ‬ሶ ൌ ሺ‫ ܣ‬െ ‫ܭܤ‬ሻ‫ݔ‬ (36)
Here K is derived from minimization of cost function.
LQR gain vector K can be obtaining by
‫ ܭ‬ൌ ܴିଵ ‫ܲ ்ܤ‬ (37)
Where P is positive definite symmetric matrix.
P can be obtaining by Algebraic Recatti Equation (ARE):
‫ ܲ ்ܣ‬൅ ܲ‫ ܣ‬െ ܲ‫ି ܴܤ‬ଵ ‫ ܲ ்ܤ‬൅ ܳ ൌ Ͳ (38)

ܲଵଵ ܲଵଶ ܲଵଷ ܲଵସ

ܲଶଵ ܲଶଶ ܲଶଷ ܲଶସ
ܲൌ൦ ൪
ܲଷଵ ܲଷଶ ܲଷଷ ܲଷସ
ܲସଵ ܲସଶ ܲସଷ ܲସସ Fig.4. State response of system using LQR with initial condition

where in Positive definite symmetric matrix P:

2017 International Conference on Innovations in information Embedded and Communication Systems (ICIIECS)

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2017 International Conference on Innovations in information Embedded and Communication Systems (ICIIECS)

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