{"title":"基于QFT的机器人关节鲁棒控制设计","authors":"Juanli Ma, Yongxian Song, Xuping Qin","doi":"10.1109/WGEC.2009.69","DOIUrl":null,"url":null,"abstract":"Quantitative feedback theory (QFT) is an engineering design method with strong practical value in the field of robust control and it is aimed at the objects with parameters changes. This paper introduces the basic principles and the design process of QFT, and for parameter uncertainty of the robot joint control, this paper designs the feedback-controller and the pre-filter of the system based on QFT. MATLAB simulation results show that the method is with good robust performance and dynamic performance in the robot joint control, and meets the performance indicators.","PeriodicalId":277950,"journal":{"name":"2009 Third International Conference on Genetic and Evolutionary Computing","volume":"28 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Robust Control Design of the Robot Joint Based on QFT\",\"authors\":\"Juanli Ma, Yongxian Song, Xuping Qin\",\"doi\":\"10.1109/WGEC.2009.69\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Quantitative feedback theory (QFT) is an engineering design method with strong practical value in the field of robust control and it is aimed at the objects with parameters changes. This paper introduces the basic principles and the design process of QFT, and for parameter uncertainty of the robot joint control, this paper designs the feedback-controller and the pre-filter of the system based on QFT. MATLAB simulation results show that the method is with good robust performance and dynamic performance in the robot joint control, and meets the performance indicators.\",\"PeriodicalId\":277950,\"journal\":{\"name\":\"2009 Third International Conference on Genetic and Evolutionary Computing\",\"volume\":\"28 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-10-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 Third International Conference on Genetic and Evolutionary Computing\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/WGEC.2009.69\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 Third International Conference on Genetic and Evolutionary Computing","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/WGEC.2009.69","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Robust Control Design of the Robot Joint Based on QFT
Quantitative feedback theory (QFT) is an engineering design method with strong practical value in the field of robust control and it is aimed at the objects with parameters changes. This paper introduces the basic principles and the design process of QFT, and for parameter uncertainty of the robot joint control, this paper designs the feedback-controller and the pre-filter of the system based on QFT. MATLAB simulation results show that the method is with good robust performance and dynamic performance in the robot joint control, and meets the performance indicators.
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