QFD of a multivariable nonlinear flexible manipulator: Benchmark problem

Oded Yaniv, Aron W. Pila

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

A design which tackles the benchmark problem for robust feedback control of a manipulator is presented. The design is based on the QFT/QFD philosophy. The system to be controlled is an uncertain nonlinear two link manipulator with elastic gear transmissions described by nonlinear friction and elasticity. In addition the system is subject to parametric uncertainty and un-measurable disturbances which affect both the motors and the end effecter (tool). The system is controlled by a discrete-time controller which optimizes performance for given robustness requirements. The control design solves the disturbance rejection, stability and performance problems. The proposed design is validated on the Simulink™ model of the real industrial manipulator.

Original languageEnglish
Title of host publicationROCOND'09 - 6th IFAC Symposium on Robust Control Design, Proceedings
Pages78-83
Number of pages6
EditionPART 1
DOIs
StatePublished - 2009
Externally publishedYes
Event6th IFAC Symposium on Robust Control Design, ROCOND'09 - Haifa, Israel
Duration: 16 Jun 200918 Jun 2009

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume6
ISSN (Print)1474-6670

Conference

Conference6th IFAC Symposium on Robust Control Design, ROCOND'09
Country/TerritoryIsrael
CityHaifa
Period16/06/0918/06/09

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