Fig 1.
Home configuration of the robotic manipulator.
Fig 2.
Simulink open-loop model of the robotic manipulator.
Table 1.
Physical parameters of the SimMechanics/Simulink model.
Table 2.
Specification of the proposed control system.
Fig 3.
LQR state feedback control in Simulink.
Fig 4.
Response for LQR, Case I.
Fig 5.
Actuator torques for LQR, Case I.
Table 3.
Summary of results for LQR.
Fig 6.
SFG-SISO PI control in Simulink.
Fig 7.
SFG-SISO PI response, Case I.
Fig 8.
SFG-SISO PI actuator response, Case I.
Table 4.
Summary of results for SFG-SISO PI controllers.
Fig 9.
SFG-MIMO PI control in Simulink.
Fig 10.
SFG-MIMO PI response, Case I.
Fig 11.
SFG-MIMO PI actuator response, Case I.
Table 5.
Summary of results for SFG-MIMO PI.
Fig 12.
Reference trajectory for the robotic manipulator.
Fig 13.
Tracking error for SFG-SISO PI control.
Fig 14.
Tracking error for SFG-MIMO PI control.
Table 6.
Comparison of results in terms of percentage reduction.
Fig 15.
Performance of LQR (Case I) under mass variation.
Fig 16.
Performance of SFG-SISO (Case I) under mass variation.
Fig 17.
Performance of SFG-MIMO (Case I) under mass variation.