LQR Based Optimal Control for Single-Joint Flexible Link Robot

Abstract

This paper presents application results of several optimal control theories on a single-joint flexible link robot. The main objective is to control the angle of the manipulator with minimum vibration in minimum settling time. In this context, three of Linear Quadratic Regulator (LQR) based optimal control techniques are applied on a physical system. The study gives significant information about choosing the proper method for the specific application. Some undesired system behaviors are observed as backlash effect, uncertain system friction dynamics, etc. Solutions to overcome this type of problems are also proposed in this study. The results obtained give high motivation for further studies in this area since the single-joint flexible link represents a number of systems in practice.