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

fYear

2008

fDate

27-29 May 2008

Firstpage

1

Lastpage

5

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ISMA.2008.4648839

Filename

4648839