Disturbance-rejection-PID controller for flexible arm robot using iterative linear matrix inequality

摘要

In many practical robotic systems, large disturbances in the load are unavoidable. In this paper, a PID controller for a flexible arm robot is designed to satisfy the objectives: stability and Hoo performance specifications (disturbance rejection). Iterative linear matrix inequality technique is used to build an algorithm to calculate the parameters of the PID feedback controller. The proposed design is applied to practical industrial robot manipulator with load disturbances at the motor and the tool. The results show that the controller attenuates the effect of disturbances in the output and provides a precise performance regarding the tool tracking.