{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T02:00:48Z","timestamp":1760148048203,"version":"build-2065373602"},"reference-count":27,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2023,3,27]],"date-time":"2023-03-27T00:00:00Z","timestamp":1679875200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>The present work proposes the use of a hybrid controller combining concepts of a PID controller with LQR and a feedforward gain to control the positioning of a 2 DOF robotic arm with flexible joints subject to non-ideal excitations. To characterize the performance of the controls, two cases were studied. The first case considered the positioning control of the two links in fixed positions, while the second case considered the situation in which the second link is in rotational movement and the first one stays in a fixed position, representing a system with a non-ideal excitation source. In addition to the second case, the sensitivity of the proposed controls for changes in the length and mass of the second link in the rotational movement was analyzed. The results of the simulations showed the effectiveness of the controls, demonstrating that the PID control combined with feedforward gain provides the lowest error for both cases studied; however, it is sensitive to variations in the mass of the second link, in the case of rotational movements. The numerical results also revealed the effectiveness of the PD control obtained by LQR, presenting results similar to the PID control combined with feedforward gain, demonstrating the importance of the optimal control design.<\/jats:p>","DOI":"10.3390\/robotics12020051","type":"journal-article","created":{"date-parts":[[2023,3,27]],"date-time":"2023-03-27T06:46:19Z","timestamp":1679899579000},"page":"51","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Positioning Control of Robotic Manipulators Subject to Excitation from Non-Ideal Sources"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3144-0407","authenticated-orcid":false,"given":"Angelo M.","family":"Tusset","sequence":"first","affiliation":[{"name":"Department of Production Engineering, Federal University of Technology-Paran\u00e1, Paran\u00e1-Doutor Washington Subtil Chueire St. 330, Ponta Grossa 84017-220, Brazil"}]},{"given":"Amarildo E. B.","family":"Pereira","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Federal University of Technology-Paran\u00e1, Paran\u00e1-Doutor Washington Subtil Chueire St. 330, Ponta Grossa 84017-220, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9796-3609","authenticated-orcid":false,"given":"Jose M.","family":"Balthazar","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Federal University of Technology-Paran\u00e1, Paran\u00e1-Doutor Washington Subtil Chueire St. 330, Ponta Grossa 84017-220, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8215-4510","authenticated-orcid":false,"given":"Frederic C.","family":"Janzen","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Federal University of Technology-Paran\u00e1, Paran\u00e1-Doutor Washington Subtil Chueire St. 330, Ponta Grossa 84017-220, Brazil"}]},{"given":"Clivaldo","family":"Oliveira","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Federal University of Grande Dourados, R. Jo\u00e3o Rosa G\u00f3es, 1761-Vila Progresso, Dourados 79825-070, Brazil"}]},{"given":"Maria E. K.","family":"Fuziki","sequence":"additional","affiliation":[{"name":"Department of Chemical Engineering, State University of Maring\u00e1, Colombo Ave. 5790, Maring\u00e1 87020-900, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2065-9622","authenticated-orcid":false,"given":"Giane G.","family":"Lenzi","sequence":"additional","affiliation":[{"name":"Department of Production Engineering, Federal University of Technology-Paran\u00e1, Paran\u00e1-Doutor Washington Subtil Chueire St. 330, Ponta Grossa 84017-220, Brazil"}]}],"member":"1968","published-online":{"date-parts":[[2023,3,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"351","DOI":"10.1016\/j.rcim.2013.11.003","article-title":"An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation","volume":"30","author":"Manzoor","year":"2014","journal-title":"Robot. 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