Research Article
Performance Analysis of MPC in the Control of a Simple Motorized Nonlinear Model of a Robotic Leg
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
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| Volume 54 - Issue 11 |
| Published: September 2012 |
| Authors: Abdur Raquib Ridwan, Md. Ibnea Sina Bony, Ishtiza Ibne Azad |
10.5120/8611-2465
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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 },
year = { 2012 },
volume = { 54 },
number = { 11 },
pages = { 19-23 },
doi = { 10.5120/8611-2465 },
publisher = { Foundation of Computer Science (FCS), NY, USA }
}
%0 Journal Article
%D 2012
%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%T
%J International Journal of Computer Applications
%V 54
%N 11
%P 19-23
%R 10.5120/8611-2465
%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
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