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- W2108331336 abstract "This paper presents a new systematic method to design a controller using the quantitative feedback theory (QFT) for a robot identified as a non-minimum phase model. The robot manipulators are highly nonlinear with an uncertain environment. A linearised transfer function of a laboratory robot is developed using the off-line system identification. The effects of nonlinearities are accounted by describing the linearised model parameters as structured uncertainty. The QFT design procedure is carried out to design a robust controller that satisfies performance specifications for tracking. The designed fixed-gain controller is easy to implement." @default.
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- W2108331336 date "2007-01-01" @default.
- W2108331336 modified "2023-09-26" @default.
- W2108331336 title "New controller design for a robot manipulator" @default.
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- W2108331336 doi "https://doi.org/10.1109/iccas.2007.4406876" @default.
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