K. Fu and J.K. Mills
Multiple specifications, robust control, parallel robot, convex specifications
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.
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