Title :
Robust stability and robust performance conditions for robot manipulators by PD+Q controller
Author :
Matsuo, Takami ; Fujiwara, Shuichi ; Yoshino, Ryoichi ; Suemitsu, Haruo
Author_Institution :
Dept. of Human Welfare Eng., Oita Univ., Japan
fDate :
6/21/1905 12:00:00 AM
Abstract :
Recently, we proposed the PID+Q controller which consists of a PID controller. The purpose of this paper is to show that we can improve the performance and stability of robot manipulators with plant uncertainties such as dynamic coupling, gravity forces, and first-order lag filters using the PID+Q controller. We discuss the nominal performance, robust stability and robust performance of the PID+Q controller and apply the PD+Q controller to a parallel link robot manipulator
Keywords :
manipulators; robust control; three-term control; uncertain systems; PD+Q controller; PID controller; PID+Q controller; dynamic coupling; first-order lag filters; gravity forces; parallel link robot manipulator; plant uncertainties; robot manipulators; robust performance conditions; robust stability conditions; Control systems; Filters; Gravity; Linear feedback control systems; Manipulator dynamics; Motion control; Parallel robots; Robust control; Robust stability; Three-term control;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.825376
