Positioning control of one link arm with parametric uncertainty using QFT method

Takayuki Kuwashima, Jun Imai, Masami Konishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents controller design for one link arm with parametric uncertainty. Recently, many manufacturing robots are operated in manufacturing facilities, with the aim of labor and cost saving or improvement of the productivity. Such robots need to have positioning performance of high precision. In condition that there is uncertainty in plant dynamics, desired control performance may not be attained because the controller is designed according to mathematical model of a plant. So it is important that the designed control system have robust control performance. In this paper, QFT robust controller is designed for one link arm with parametric uncertainty. Simulation experiments are run for control system designed by using QFT and conventional method. The results are compared with each other and it is found that the control system designed by QFT shows robust performance and can suppress the unevenness of output against parametric uncertainty.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Pages3268-3271
Number of pages4
DOIs
Publication statusPublished - Dec 1 2008
EventSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan
Duration: Aug 20 2008Aug 22 2008

Publication series

NameProceedings of the SICE Annual Conference

Other

OtherSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
CountryJapan
CityTokyo
Period8/20/088/22/08

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Keywords

  • One link arm
  • Parametric uncertainty
  • Positioning control
  • QFT
  • Robust control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Kuwashima, T., Imai, J., & Konishi, M. (2008). Positioning control of one link arm with parametric uncertainty using QFT method. In Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology (pp. 3268-3271). [4655229] (Proceedings of the SICE Annual Conference). https://doi.org/10.1109/SICE.2008.4655229