Carreno J.J., Villamizar R., "Robust Control of Robot Manipulator based on QFT and H∞," International Journal of Electrical Engineering and Computer Science, vol. 1, pp. 1-6, 2019, DOI:
Carreno J.J., Villamizar R.. Robust Control of Robot Manipulator based on QFT and H∞.
International Journal of Electrical Engineering and Computer Science. 2019;1:1-6.
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.
Pages: 1-6 DOI: *As the DOI is a unique identifier, it is already available in the pdf version.
**The DOI link will be activated in the first midst of January 2026.
WSEAS Transactions on International Journal of Electrical Engineering and Computer Science, E-ISSN: 2769-2507, Volume 1, 2019, Art. #1
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