International Journal of Electrical Engineering and Computer Science
E-ISSN: 2769-2507
Volume 1, 2019
Robust Control of Robot Manipulator based on QFT and H∞
Authors: ,
Abstract: In this paper robust controllers have been obtained by using QFT and H? control techniques, to control movements of waist, shoulder and elbow of a 6-DOF manipulator. An uncertain experimental linear model of the robot, that represents the non-linearity of the dynamics system, was used to design the controllers. First, H? controllers were obtained by using weighting functions and then robust PIDcontrollers and pre-filters for each link of the robot were obtained by using QFT control methodology, in order to compare the dynamical performance of both types of robust controllers.