Nonlinear Quantitative Feedback Theory Controller Design for Flexible Joint Robot
In this project, we will use Quantitative Feedback Theory (QFT) to design a for Flexible Joint Robot (FJR). During design procedure we will see the most important superiority of this method which is the possibility of having trade off between practically obtainable characteristics and desired specifications. Also QFT offers some efficient and facile unique techniques to encounter nonlinear systems which save us from complicated analytical methods for nonlinear systems or general identification methods in frequency domain (like, in ). In this project, first we attempt to design a holistic controller for FJR, but we realize that flexibility make it necessary using composite control idea to control fast and slow dynamics separately. Hence, after controlling fast dynamics by a corrective term, we design a QFT controller for the rest system which is equivalent to the rigid system. Due to the fact that the flexibility of the real system is much less than the benchmark system, QFT can design a suitable controller for it without using composite control idea.