Browsing by Author "Ait Kaki, Abdelaziz"

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    Linear quadratic-based computed-torque control of an actuated pendulum with friction
    (University of Oum El Bouaghi, 2021) Ghediri, Akram; Lamamra, Kheireddine; Ait Kaki, Abdelaziz
    In this paper, the trajectory tracking control of an actuated pendulum with friction using LQ-based computed-torque controller is studied. The control scheme consists of feedback linearization loop to cancel nonlinear dynamics and LQ as outer-loop controller. The dynamic model is developed using Euler-Lagrange formulation and the stability behavior is analyzed for both open and closed-loop system. Simulation result show that LQ-based computed-torque controller is effective in terms of computing optimal feedback gains that minimize the position and velocity tracking errors.