Robust Control Design for a Planar Parallel robot

Abstract

In this paper a control design approach termed the Convex Integrated Design (CID) method is used to design a robust controller for a high-speed, high-accuracy planar parallel robot. A controller that simultaneously satisfies four closed-loop performance specifications---the first three define closed-loop performance (i.e. the high-speed and high-accuracy motion of the platform with a limited control effort) and the fourth is a robustness specification that guarantees the previous three closed-loop performance specifications are satisfied in the presence of dynamic model uncertainty (e.g., unknown payload) and external disturbances---is determined using the CID method. Experimental results are presented that verify both the performance of the resultant control design and the CID method, applied to this planar parallel manipulator.