DocumentCode
3347411
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
fYear
2009
fDate
14-17 Oct. 2009
Firstpage
173
Lastpage
176
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Genetic and Evolutionary Computing, 2009. WGEC '09. 3rd International Conference on
Conference_Location
Guilin
Print_ISBN
978-0-7695-3899-0
Type
conf
DOI
10.1109/WGEC.2009.69
Filename
5402918
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