Robust stability and robust performance conditions for robot manipulators by PD+Q controller

Recently, we proposed the PID+Q controller which consists of a PID controller. The purpose of this paper is to show that we can improve the performance and stability of robot manipulators with plant uncertainties such as dynamic coupling, gravity forces, and first-order lag filters using the PID+Q controller. We discuss the nominal performance, robust stability and robust performance of the PID+Q controller and apply the PD+Q controller to a parallel link robot manipulator.