Abstract
In this paper, Maryland parallel manipulator is being examined, having 3-degrees-of-freedom (DOF). For the dynamic analysis, three different sequential trajectories are considered. The major concern is the nonlinearities and disturbances, which are always associated with the parallel manipulators and it is observed that the process and measurement noise can be rejected by using Linear-Quadratic-Gaussian (LQG) controller. For the designing and to control the trajectory of the examined manipulator, the weighting matrices Q & R must be optimally selected. Three different methods for tuning Q & R weighted matrices are proposed i.e. (i) Trial and Error, (ii) Algebraic Approach and (iii) Genetic Algorithm (GA). The performance analysis of LQG is being simulated by MATLAB. Finally, after designing and tuning of LQG the results of all three different methods of tuning are compared, and it are found that in case of LQG-GA the trajectory tracking is better and efficient as compared to other two methods.
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