• MOHAN BUKYA

This paper focuses on the modelling and control of a two-link planar arm that emulates a human arm. The system model derived both in the 2nd-order differential equation formulation and state-variable formulation, the system is linearized around equilibrium point for analysis. The arm is subjected to a disturbance at a specific location on the arm while performing trajectory tracking tasks in two-dimensional space. A closed-loop control system is applied using LQR control to observe the system responses like state tracking, position and velocity control. These results of the study show the effectiveness of the proposed method in eliminating the unwanted disturbance effect to produce robust position, velocity and accurate tracking performance of the system.

Lagrange’s equation, Modelling, Linearization, Linear Quadratic Regulator, State tracking, Simulink.

"Modelling and Optimal control of Two link planar arm", International Journal of Emerging Technologies and Innovative Research (www.jetir.org), ISSN:2349-5162, Vol.6, Issue 12, page no.525-535, December-2019, Available :http://www.jetir.org/papers/JETIR1812C76.pdf

"Modelling and Optimal control of Two link planar arm", International Journal of Emerging Technologies and Innovative Research (www.jetir.org | UGC and issn Approved), ISSN:2349-5162, Vol.6, Issue 12, page no. pp525-535, December-2019, Available at : http://www.jetir.org/papers/JETIR1812C76.pdf