Title :
Robust Control Design of the Robot Joint Based on QFT
Author :
Ma Juanli ; Song Yongxian ; Qin Xuping
Author_Institution :
Dept. of Autom., Huaihai Inst. of Technol., Lianyungang, China
Abstract :
Quantitative feedback theory (QFT) is an engineering design method with strong practical value in the field of robust control and it is aimed at the objects with parameters changes. This paper introduces the basic principles and the design process of QFT, and for parameter uncertainty of the robot joint control, this paper designs the feedback-controller and the pre-filter of the system based on QFT. MATLAB simulation results show that the method is with good robust performance and dynamic performance in the robot joint control, and meets the performance indicators.
Keywords :
control system synthesis; feedback; robust control; engineering design method; feedback controller; parameter uncertainty; quantitative feedback theory; robot joint control; robust control design; strong practical value; Control systems; Design engineering; Design methodology; Feedback; Frequency; Open loop systems; Robot control; Robust control; Uncertain systems; Uncertainty;
Conference_Titel :
Genetic and Evolutionary Computing, 2009. WGEC '09. 3rd International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-0-7695-3899-0
DOI :
10.1109/WGEC.2009.69
