چکیده مقاله
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
کلیدواژهها
نویسندگان
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
شیوه ارجاع
Torabi Z., Keivan and Amiri Moghadam, Amir Ali and Maarefdoost, Mehdi,1388,Optimal Design of Robust PID Controller for Robot Arm Manipulators Using Quantitative Feedback Theory (QFT) Method,10th Iranian Conference on Manufacturing Engineering (ICME 2010),Babol
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