A stable state-feedback fuzzy controller employing linear matrix inequalities for flexible link robotic arm
A stable state-feedback fuzzy controller employing linear matrix inequalities for flexible link robotic arm
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DOI：
10.1109/indin.2005.1560416
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发表时间：
2005-12
期刊：
影响因子：
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通讯作者：
A. Chatterjee;R. Chatterjee;F. Matsuno;T. Endo
中科院分区：
文献类型：
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作者：
A. Chatterjee;R. Chatterjee;F. Matsuno;T. Endo
本文提出了一种柔性机械臂的稳定状态反馈模糊控制器的设计方法，该模糊控制器采用并行分布补偿原理，每个局部模糊对象规则对应一个局部控制规则。一个神经模糊体系结构，推导出近似的状态空间模型的基础上，从真实的工厂收集的实验数据的柔性机械臂。稳定的模糊控制器的设计，通过重铸的线性矩阵不等式的形式的稳定性条件，从而获得适当的控制增益。通过对真实的机器人手臂的控制实现，成功地证明了控制设计策略的适用性。
The present paper proposes the design of a stable state-feedback fuzzy controller for a flexible robotic arm. The fuzzy controller is designed employing parallel distributed compensation philosophy where one local control rule is designed for each local fuzzy plant rule. A neuro-fuzzy architecture is employed to derive the approximate state-space model for the flexible robotic arm on the basis of experimental data collected from the real plant. A stable fuzzy controller is designed by recasting the stability conditions in form of linear matrix inequalities and hence deriving the appropriate control gains. The suitability of the control design strategy is successfully demonstrated by implementing it for the real robotic arm.