Optimal Design of Robust PID Controller for Robot Arm Manipulators Using Quantitative Feedback Theory (QFT) Method
Publish Year: 1388
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ICME10_081
تاریخ نمایه سازی: 29 آبان 1388
Abstract:
In this paper, application of Quantitative Feedback Theory (QFT) to design optimal robust PID controllers for robot arm manipulators is proposed. In reality robots have uncertain mathematical models. Uncertainties in the models are caused by lack of knowledge about the dynamics of the robot, external disturbance, pay load changes, and friction, etc. Thus application of robust control methods for high precise control of robots is inevitable. As robot arm manipulators have multivariable nonlinear coupled transfer functions, therefore, using QFT technique at first converts the nonlinear plant into a family of linear and uncertain plants. This is achieved using fixed-point theorem and then for illumination of cross-coupling effect between degrees of freedom suitable disturbance rejection bounds will be designed. An optimal robust PID controller will be designed for the linear processes. In order to illustrate the algorithm the authors applied a two degree of freedom robot and the optimal robust PID controller is designed for tracking problem. Finally, the robustness and optimality of the design will be checked by means of a nonlinear simulation in tracking different trajectories.
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Authors
Keivan Torabi Z.
Professor, Faculty of Mechanical Engineering, University of Kashan
Amir Ali Amiri Moghadam
Ph.D. Student, Faculty of Mechanical Engineering, Ferdowsi University of Mashhad
Mehdi Maarefdoost
Ph.D. Student, Faculty of Mechanical Engineering, Islamic Azad University- Gonabad Branch
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