Title :
Fuzzy control for two-link arm robot via LPV T-S fuzzy models
Author :
Chang, Wen-Jer ; Kuo, Che-Pin ; Chen, Po-Hsun
Author_Institution :
Dept. of Marine Eng., Nat. Taiwan Ocean Univ., Keelung, Taiwan
Abstract :
This paper presents the stabilization conditions for designing fuzzy controller of two-link arm robot via Linear Parameter Varying (LPV) Takagi-Sugeno (T-S) fuzzy models. With the movable supportive base, the stochastic behavior of concerned system is considered in this paper for investigating the real environment. As mentioned above, combining the LPV system with T-S fuzzy model can approximate better the nonlinear two-link arm robot. Besides, the multiplicative noise term is introduced in the consequent part of fuzzy model to represent the stochastic behaviors. Based on the Lyapunov stability theory, the stability conditions are derived into Linear Matrix Inequality (LMI) problems that can be solved by using the convex optimal algorithm. Finally, simulation results are given to demonstrate the usefulness and applicability of the proposed fuzzy controller design approach.
Keywords :
Lyapunov methods; control system synthesis; fuzzy control; linear matrix inequalities; robots; stability; stochastic systems; LPV T-S fuzzy models; Lyapunov stability theory; convex optimal algorithm; fuzzy controller design; linear matrix inequality problems; linear parameter varying Takagi-Sugeno fuzzy models; movable supportive base; nonlinear two-link arm robot; stabilization conditions; stochastic behaviors; Lyapunov methods; Mathematical model; Noise; Robots; Simulation; Stability analysis; Stochastic processes; Takagi-Sugeno fuzzy model; linear matrix inequality; linear parameter varying system; multiplicative noise;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181711
