Title :
SOS-based design of fuzzy tracking controller for a two-link robot arm
Author :
Huang, Lun-Wei ; Cheng, Chih-Yung ; Yu, Gwo-Ruey
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Ocean Univ., Keelung, Taiwan
Abstract :
This paper proposes the fuzzy controller design for tracking control of a two-link robot arm by using a sum of squares (SOS) approach. The state space model of tracking control can be represented by T-S fuzzy model and the tracking problem can be treated as a disturbance rejection problem. After using the Lyapunov approach, the stability condition is derived and represented in terms of SOS. Furthermore, the fuzzy controller gains are obtained by solving the stability condition via SOSTOOLS. Finally, the computer simulations show the performance of the SOS-based fuzzy tracking controller.
Keywords :
Lyapunov methods; control system synthesis; fuzzy control; manipulators; position control; stability; Lyapunov approach; Takagi-Sugeno fuzzy model; disturbance rejection problem; fuzzy tracking controller design; stability condition; state space model; sum of squares approach; two-link robot arm; Bismuth; Mathematical model; PD control; Robots; Solid modeling; Stability analysis; T-S fuzzy; sum of squares; two-link robot arm;
Conference_Titel :
System Science and Engineering (ICSSE), 2011 International Conference on
Conference_Location :
Macao
Print_ISBN :
978-1-61284-351-3
Electronic_ISBN :
978-1-61284-472-5
DOI :
10.1109/ICSSE.2011.5961943
