Title :
Design of polynomial controllers for a two-link robot arm using sum-of-squares approachs
Author :
Huang, Lun-Wei ; Cheng, Chih-Yung ; Gwo-Ruey Yu
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Ocean Univ., Keelung, Taiwan
Abstract :
This paper proposes the design of polynomial fuzzy controller for an MIMO two-link arm using sum-of-squares (SOS) approach. The polynomial fuzzy framework is utilized to represent the equation of the two-link robot arm, which is more general and effective than well-known Takagi-Sugeno (T-S) fuzzy model. The polynomial Lyapunov approach is applied to analyze and derive the stability conditions of the polynomial fuzzy system, which is more relaxed than linear matrix inequality (LMI) approach to T-S fuzzy modeling and control. According to the SOS approach, the parallel distributed compensation (PDC) controller is obtained to track the state trajectory of a reference model.
Keywords :
Lyapunov methods; MIMO systems; compensation; control system synthesis; distributed control; fuzzy control; manipulators; polynomial matrices; tracking; MIMO two-link robot arm; parallel distributed compensation controller; polynomial Lyapunov approach; polynomial fuzzy controller; stability condition; state trajectory tracking; sum-of-square approach; Computational modeling; Fuzzy systems; Mathematical model; PD control; Polynomials; Robots; Stability analysis; parallel distributed compensation controller; polynomial Lyapunov approach; polynomial fuzzy model; sum of squares;
Conference_Titel :
Control Conference (ASCC), 2011 8th Asian
Conference_Location :
Kaohsiung
Print_ISBN :
978-1-61284-487-9
Electronic_ISBN :
978-89-956056-4-6