LQR Combined with Fuzzy Control for 2-DOF Planar Robot Trajectories

A. Hernandez-Pineda, I. Bezerra-Viana, M. Marques-Simoes, F. Carvalho Bezerra

2023

Abstract

Some tasks of robotic manipulators are performed using control techniques for trajectory tracking. These techniques ensure that the existing steady-state error between the desired and executed trajectories are close to zero. This work proposes a hybrid control scheme that enhances a traditional control approach with computational tuning optimization. The Linear Quadratic Regulator (LQR) controller is implemented by manipulating the state variables of the plant to be controlled. The optimization of this controller is related to the weighting variables of the cost function. Computational tuning using fuzzy logic is applied to adjust the weighting variables of LQR. The results demonstrate that the hybrid control optimal performance outperformed the traditional LQR controller in the trajectory following task for the two-degree-of-freedom planar robotic manipulator.

Paper Citation

in Harvard Style

Hernandez-Pineda A., Bezerra-Viana I., Marques-Simoes M. and Carvalho Bezerra F. (2023). LQR Combined with Fuzzy Control for 2-DOF Planar Robot Trajectories. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 763-769. DOI: 10.5220/0012258600003543

in Bibtex Style

@conference{icinco23,
author={A. Hernandez-Pineda and I. Bezerra-Viana and M. Marques-Simoes and F. Carvalho Bezerra},
title={LQR Combined with Fuzzy Control for 2-DOF Planar Robot Trajectories},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={763-769},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012258600003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - LQR Combined with Fuzzy Control for 2-DOF Planar Robot Trajectories
SN - 978-989-758-670-5
AU - Hernandez-Pineda A.
AU - Bezerra-Viana I.
AU - Marques-Simoes M.
AU - Carvalho Bezerra F.
PY - 2023
SP - 763
EP - 769
DO - 10.5220/0012258600003543
PB - SciTePress