Title :
Model-Based Fuzzy control of flexible joint manipulator: A LMI approach
Author :
Seidi, Morteza ; Markazi, Amir Hosein Davaie
Author_Institution :
Dept. of Mech. Eng., Iran Univ. of Sci. & Technol., Tehran
Abstract :
In this paper a control approach for a flexible robotic manipulator using a model-based fuzzy technique is investigated. The developed controller is based on Takagi-Sugeno fuzzy modelling and LMI (linear matrix inequality) analysis. By utilizing the concept of parallel distributed compensation (PDC) by considering decay rate and constraints on control input, the design of fuzzy controller is presented. The effectiveness of the proposed method is demonstrated through comparison with other existing methods.
Keywords :
flexible manipulators; fuzzy control; linear matrix inequalities; LMI approach; Takagi-Sugeno fuzzy modelling; flexible joint manipulator; flexible robotic manipulator; linear matrix inequality; model-based fuzzy control; parallel distributed compensation; Adaptive control; Control theory; Fuzzy control; Fuzzy systems; Manipulators; Mathematical model; Mechanical engineering; Programmable control; Robot control; Takagi-Sugeno model;
Conference_Titel :
Mechatronics and Its Applications, 2008. ISMA 2008. 5th International Symposium on
Conference_Location :
Amman
Print_ISBN :
978-1-4244-2033-9
Electronic_ISBN :
978-1-4244-2034-6
DOI :
10.1109/ISMA.2008.4648839
