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

Volume

2

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

872

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on

Conference_Location

Tokyo

ISSN

1062-922X

Print_ISBN

0-7803-5731-0

Type

conf

DOI

10.1109/ICSMC.1999.825376

Filename

825376