DocumentCode
489039
Title
Design of Discrete Robust Controller by QFT using PCT-Approach
Author
Lamont, G.B. ; Leahy, M.B., Jr. ; Bossert, D.E. ; Horowitz, I.M.
Author_Institution
Air Force Institute of Technology, Department of Electrical and Computer Engineering, WPAFB OH 45433
fYear
1991
fDate
26-28 June 1991
Firstpage
1989
Lastpage
1994
Abstract
A pseudo-continuous time (PCT) approach to Quantitative Feedback Theory (QFT) design of discrete robust controllers for highly coupled nonlinear plants was developed and experimentally evaluated on a robotic manipulator [2]. The new method provides a straightforward extension of analog QFT techniques to highly coupled nonlinear plants without degrading the robustness of the resulting QFT controller. A detailed description of the design technique and a sample appliction are presented.
Keywords
Couplings; Delay estimation; Design methodology; Equations; Force control; Force feedback; MIMO; Manipulators; Robust control; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1991
Conference_Location
Boston, MA, USA
Print_ISBN
0-87942-565-2
Type
conf
Filename
4791746
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