DocumentCode :
1752447
Title :
Mixed H2/ H∞ Control of Flexible-link Manipulators Based on Fuzzy Singularly Perturbed Model
Author :
Fuchun Sun ; Cheng Guo ; Ni Zhao ; Huaping Liu
Author_Institution :
Autom. & Electr. Eng. Coll., Dalian Maritime Univ.
Volume :
1
fYear :
2006
fDate :
21-23 June 2006
Firstpage :
422
Lastpage :
426
Abstract :
In this paper, we present a fuzzy singularly perturbed model (FSPM) for the dynamics of a flexible-link manipulator. We extend the Takagi-Sugeno model to approximate the dynamics of the flexible-link manipulator by softly merging locally linear singularly perturbed models using membership functions. Based on the FSPM, a mixed H2/H infin optimal and robust controller is developed for a flexible-link manipulator to achieve the suboptimal H2 control performance with a desired Hinfin disturbance rejection constraint. Finally, an application example for a single-link manipulator shows the feasibility and effectiveness of the proposed control approach
Keywords :
Hinfin control; flexible manipulators; fuzzy control; fuzzy set theory; manipulator dynamics; robust control; singularly perturbed systems; Takagi-Sugeno model; disturbance rejection; flexible-link manipulators; fuzzy singularly perturbed model; manipulator dynamics; membership functions; mixed H2-Hinfin control; optimal controller; robust controller; Automatic control; Automation; Finite element methods; Fuzzy control; Fuzzy systems; Manipulator dynamics; Merging; Optimal control; Robust control; Sun; Flexible-link manipulators; fuzzy singularly perturbed model; mixed H;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
Type :
conf
DOI :
10.1109/WCICA.2006.1712351
Filename :
1712351
Link To Document :
https://search.ricest.ac.ir/dl/search/defaultta.aspx?DTC=49&DC=1752447
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