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