Open AccessRobust Control of Robot Manipulator based on QFT and H∞
Author(s) -
J. J. Carreño,
Rodolfo Villamizar
Publication year - 2022
Publication title -
international journal of mathematics and computers in simulation
Language(s) - English
Resource type - Journals
ISSN - 1998-0159
DOI - 10.46300/9102.2022.16.4
Subject(s) - control theory (sociology) , robust control , control engineering , quantitative feedback theory , pid controller , parametric statistics , weighting , matlab , controller (irrigation) , robot , computer science , scara , control system , engineering , control (management) , mathematics , artificial intelligence , temperature control , medicine , agronomy , statistics , biology , electrical engineering , radiology , operating system
Robust controllers have been developed by both control techniques QFT and H∞ applied in the waist, shoulder and elbow of a manipulator of 6 degrees of freedom. The design is based on the identification of a linear model of the robot dynamics which represents the non-linearity of the system using parametric uncertainty. QFT control methodology is used to tune the robust PID-controller and pre-filters of the system, and H∞ controllers are obtained by designing the weighting functions and using the MATLAB hinfopt tool. Finally the performance of robust controllers is compared designed based on the calculation and analysis of some behavioral indices.