DocumentCode
1752447
Title
Mixed H2/ H∞ Control of Flexible-link Manipulators Based on Fuzzy Singularly Perturbed Model
Author
Fuchun Sun ; Cheng Guo ; Ni Zhao ; Huaping Liu
Author_Institution
Autom. & Electr. Eng. Coll., Dalian Maritime Univ.
Volume
1
fYear
2006
fDate
21-23 June 2006
Firstpage
422
Lastpage
426
Abstract
In this paper, we present a fuzzy singularly perturbed model (FSPM) for the dynamics of a flexible-link manipulator. We extend the Takagi-Sugeno model to approximate the dynamics of the flexible-link manipulator by softly merging locally linear singularly perturbed models using membership functions. Based on the FSPM, a mixed H2/H infin optimal and robust controller is developed for a flexible-link manipulator to achieve the suboptimal H2 control performance with a desired Hinfin disturbance rejection constraint. Finally, an application example for a single-link manipulator shows the feasibility and effectiveness of the proposed control approach
Keywords
Hinfin control; flexible manipulators; fuzzy control; fuzzy set theory; manipulator dynamics; robust control; singularly perturbed systems; Takagi-Sugeno model; disturbance rejection; flexible-link manipulators; fuzzy singularly perturbed model; manipulator dynamics; membership functions; mixed H2-Hinfin control; optimal controller; robust controller; Automatic control; Automation; Finite element methods; Fuzzy control; Fuzzy systems; Manipulator dynamics; Merging; Optimal control; Robust control; Sun; Flexible-link manipulators; fuzzy singularly perturbed model; mixed H;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location
Dalian
Print_ISBN
1-4244-0332-4
Type
conf
DOI
10.1109/WCICA.2006.1712351
Filename
1712351
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