Designing a Decentralized LQ Controller for an Industrial Robot Manipulator Based on Optimization Techniques

Author

Yazdani, D. ; Azizi, S.M. ; Bakhshai, A.

Author_Institution

Dept. of Electr. & Comput. Eng., Queen´´s Univ.

Volume

4

fYear

2006

fDate

9-13 July 2006

Firstpage

3078

Lastpage

3083

Abstract

In this paper, a method based on Broyden-Fletcher-Goldforb-Shanno (BFGS) optimization algorithm to design a decentralized controller for an industrial robot manipulator is presented. This method maintains all the necessary conditions for convergence such as stability, descending direction, and positive definiteness. It offers reasonable convergence rate which shows the effectiveness of the method, and the controller designed with this method shows high performance and decoupling property in time response. It is also compared with two other optimization algorithms, Davidson-Fletcher-Powel (DFP) and steepest descent, in the application to design a controller for an industrial robot manipulator. While the performance of the DFP algorithm is quite similar to the BFGS algorithm, the steepest descent method converges slowly and does not converge to the desired decentralized structure. Simulation results confirm the validity of the analytical work

Keywords

control system synthesis; decentralised control; industrial manipulators; linear quadratic control; optimisation; Broyden-Fletcher-Goldforb-Shanno optimization algorithm; Davidson-Fletcher-Powel; decentralized LQ controller; industrial robot manipulator; optimization techniques; steepest descent method; Algorithm design and analysis; Analytical models; Convergence; Design methodology; Design optimization; Industrial control; Manipulators; Service robots; Stability; Time factors;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2006 IEEE International Symposium on

Conference_Location

Montreal, Que.

Print_ISBN

1-4244-0496-7

Electronic_ISBN

1-4244-0497-5

Type

conf

DOI

10.1109/ISIE.2006.296107

Filename

4078883