Title :
A BFGS-based method for designing a decentralized LQ controller for industrial robot manipulators
Author :
Azizi, S.M. ; Fekri, M. Zamani ; Yazdani, D. ; Bakhshai, A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que.
Abstract :
In this paper, a method based on BFGS optimization algorithm to design a decentralized controller is presented. This method maintains all the necessary conditions for convergence such as stability, descending direction, and positive definiteness. It is applied to a two-link robot manipulator, and it offers reasonable convergence rate which shows the effectiveness of the method. The controller designed with this method shows high performance and decoupling property in time response. Simulation results confirm the validity of the analytical work
Keywords :
decentralised control; industrial manipulators; optimisation; stability; BFGS optimization algorithm; decentralized LQ controller; descending direction; industrial robot manipulators; positive definiteness; stability; Algorithm design and analysis; Convergence; Design methodology; Design optimization; Industrial control; Manipulators; Robot control; Service robots; Stability; Time factors;
Conference_Titel :
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Conference_Location :
Toronto, Ont.
Print_ISBN :
0-7803-9354-6
DOI :
10.1109/CCA.2005.1507354
