Performance Comparison Between the PID and LQR Controllers Applied to a Robotic Manipulator Joint

摘要

The application of industrial robots has greatly increased in recent years making production systems more and more efficient. With this in mind, increasingly efficient controllers are needed for those robots. In this paper is presented a performance comparison between the Proportional-Integral-Derivative (PID) and the Linear Quadratic Regulator (LQR) controllers applied to the speed control of one joint of a cylindrical, i.e Rotational-Prismatic-Prismatic (RPP), robotic manipulator. The results are presented for the interactive and parallel forms of PID controller and for the LQR controller, in addition are made the stability and robustness verification for each controller.