An integrated algorithm of fuzzy modeling and controller design for nonlinear systems

Author

Tanaka, Kazuo ; Hori, Tsuyosbi ; Yamafuji, Kazuo ; Wang, Hua O.

Author_Institution

Dept. of Mech. Eng. & Intelligent Syst., Univ. of Electro-Commun., Tokyo, Japan

Volume

2

fYear

1999

fDate

22-25 Aug. 1999

Firstpage

887

Abstract

This paper presents an integrated algorithm of fuzzy modeling and controller design. An LMI condition to identify the parameters of a Takagi-Sugeno fuzzy model (T-S fuzzy model) is derived. More importantly, we achieve stable fuzzy control for the identified T-S fuzzy model. The fuzzy modeling and controller design are applied to vision tracking control using a two-link manipulator with a CCD camera. The experimental results show the utility of the proposed integrated algorithm of fuzzy modeling and controller design.

Keywords

CCD image sensors; control system synthesis; fuzzy control; manipulators; matrix algebra; nonlinear control systems; optical tracking; parameter estimation; CCD camera; LMI condition; fuzzy controller design; fuzzy modeling; integrated algorithm; nonlinear systems; two-link manipulator; vision tracking control; Algorithm design and analysis; Charge coupled devices; Charge-coupled image sensors; Fuzzy control; Fuzzy systems; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Takagi-Sugeno model;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems Conference Proceedings, 1999. FUZZ-IEEE '99. 1999 IEEE International

Conference_Location

Seoul, South Korea

ISSN

1098-7584

Print_ISBN

0-7803-5406-0

Type

conf

DOI

10.1109/FUZZY.1999.793067

Filename

793067