tailieunhanh - Recent Advances in Robust Control Theory and Applications in Robotics and Electromechanics Part 6

Tham khảo tài liệu 'recent advances in robust control theory and applications in robotics and electromechanics part 6', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 8 Positioning Control of One Link Arm with Parametric Uncertainty Using the QFT Method Takayuki Kuwashima Jun Imai and Masami Konishi Okayama University japan 1. Introduction Many manufacturing robots are currently operated in various factories with the aim of saving labor and cost. In particular automatic sorting robots for products in assortment lines are used to improve productivity. In case of having the robots operate in such ways the manipulators are demanded to have positioning performance of high precision to the target position. But in condition that products of various weights are handled control performance such as positioning precision and settling time would be deteriorated if the controller is designed based on a fixed mathematical model and they include parameters such as weights of grabbing product with their robot hands. So the controller needs to have robust control performance against parameter uncertainty in plant dynamics. It means that a control system should maintain its performance even if there exists uncertainty. In decades control problems under plant uncertainty have been much studied because conventional control theory is based on the assumption that the dynamics of plant is fully well-known and certain and that the mathematical model accurately reflects behavior of controlled plant in the real world. Nowadays robust control theory is developed in order to cope with such problems. Hx control theory among robust control theories has been applied to many control systems and can handle unstructured uncertainty of plant but it can not directly deal with structured uncertainty such as parameter variation. In this chapter a robust controller design using Quantitative Feedback Theory QFT Houpis et al. 2006 is presented for one link arm with parametric uncertainty. QFT is a robust control theory developed based mainly on classical control. QFT can cope with parametric uncertainty in a plant Khodabakhshian Golbon 2005 Barve Nataraj 1998 Zolotas