A BFGS-based method for designing a decentralized LQ controller for industrial robot manipulators

In this paper, a method based on BFGS optimization algorithm to design a decentralized controller is presented. This method maintains all the necessary conditions for convergence such as stability, descending direction, and positive definiteness. It is applied to a two-link robot manipulator, and it offers reasonable convergence rate which shows the effectiveness of the method. The controller designed with this method shows high performance and decoupling property in time response. Simulation results confirm the validity of the analytical work