대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

평행링크 매니퓰레이터의 강인한 QFT(Quantitative Feedback Theory)제어기 설계

Robust QFT(Quantitative Feedback Theory) Controller Design of Parallel Link

  • 강민구 (부경대학교 제어계측공학과) ;
  • 변기식 (부경대학교 제어계측공학과)
  • Kang, Min-Goo (Dept. of Control & Instrumentation Engineering, Pukyong National University) ;
  • Byun, Gi-Sik (Dept. of Control & Instrumentation Engineering, Pukyong National University)
  • 발행 : 2001.07.18
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초록

This paper proposes that it minimizes interference between link at high speed trajectory tracking of 2-degree parallel link manipulator and QFT(Quantitative Feedback Theory) controller which robust structure uncertainty and disturbance of plant. And using ICD(Individual Channel Design), it separates two channel from multivariable system, parallel link manipulator and designs robust controller with applying MISO QFT to each channel. Finally, we make sure of robustness and excellence of QFT controller through simulation and experiment.

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