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This study examined the control of a planar two-link robot arm. The control approach design was based on the dynamic model of the robot. The mathematical model of the system was nonlinear, and thus a feedback linearization control was first proposed to obtain a linear system for which a model predictive control (MPC) was developed. The MPC control parameters were obtained analytically by minimizing a cost function. In addition, a simulation study was done comparing the proposed MPC control approach, the linear quadratic (LQ) control based on the same feedback linearization, and a control approach proposed in the literature for the same problem. The results showed the efficiency of the proposed method.

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Autonomous multi-robot systems are among the most complex systems to control, especially when those robots navigate in hazardous and dynamic environments such as chemical analysis laboratories which include dangerous and harmful products (poisonous, flammable, explosive...). This paper presents an approach for systems-complex and theoretic safety assessment, also it considers their coordinating, cooperating and collaborating using different control architectures (centralized, hierarchical and modified hierarchical). We classified those control architectures according to their properties, and then we used a systems-theoretic hazard analysis technique (STPA) to identify the potential safety hazard scenarios and their causal factors.