TY - GEN
T1 - Positioning control of one link arm with parametric uncertainty using QFT method
AU - Kuwashima, Takayuki
AU - Imai, Jun
AU - Konishi, Masami
PY - 2008/12/1
Y1 - 2008/12/1
N2 - 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.
AB - 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.
KW - One link arm
KW - Parametric uncertainty
KW - Positioning control
KW - QFT
KW - Robust control
UR - http://www.scopus.com/inward/record.url?scp=56749161456&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=56749161456&partnerID=8YFLogxK
U2 - 10.1109/SICE.2008.4655229
DO - 10.1109/SICE.2008.4655229
M3 - Conference contribution
AN - SCOPUS:56749161456
SN - 9784907764296
T3 - Proceedings of the SICE Annual Conference
SP - 3268
EP - 3271
BT - Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
T2 - SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Y2 - 20 August 2008 through 22 August 2008
ER -