Linear Quadratic optimal control for Puma Robotics

Abstract

Linear quadratic optimal control(LQOC) is a term to combine the control of optimal problems that including a linear of system with cost functional and input-state-output that is a form of quadratic of the input and state. The goal for this work is to given class of input functions by minimize this cost functional and to improve the stability for puma robotics. Puma Robotics has a complex movement with 6-degree of freedom and the challenging to assurance the stability with each of link of robotics to move without any mistake or issue. This work shows the stability of movement for Puma robotics with LQOC with MATLAB codes.