DocumentCode :
2798923
Title :
Networked Control For Robotic Manipulators Via T-S Fuzzy Control And Descriptor Representation
Author :
Zhang, Jianhua ; Hou, Guolian ; Wang, Yunze ; Zhang, Jinfang
Author_Institution :
Dept. of Autom., North China Electr. Power Univ., Beijing
Volume :
2
fYear :
2006
fDate :
16-18 Oct. 2006
Firstpage :
628
Lastpage :
631
Abstract :
This paper presents a novel networked control scheme for robotic manipulators by combing T-S fuzzy control with descriptor representation. The dynamic characteristic of nonlinear control system for robotic manipulator is built by T-S fuzzy model. In specific, both time-delay induced by network and packet loss are considered. A delay-dependent criterion for determining the stability of networked control system is obtained with the aid of linear matrix inequality (LMI) approach. A fuzzy controller is then designed by parallel distributed compensation principle. An augmented system is also introduced such that the tracking error is minimized. Finally, the proposed control algorithm is applied in a networked single-link robotic manipulator control system, and the result of simulation shows its effectiveness
Keywords :
compensation; control system synthesis; delay systems; fuzzy control; linear matrix inequalities; manipulators; nonlinear control systems; stability; T-S fuzzy control; augmented system; descriptor representation; error tracking; linear matrix inequality; networked control; nonlinear control system; parallel distributed compensation; robotic manipulators; stability; time-delay system; Control system synthesis; Fuzzy control; Fuzzy systems; Linear matrix inequalities; Manipulator dynamics; Networked control systems; Nonlinear control systems; Nonlinear dynamical systems; Robot control; Stability criteria; Networked control; fuzzy logic; manipulator.; time-delay system;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Systems Design and Applications, 2006. ISDA '06. Sixth International Conference on
Conference_Location :
Jinan
Print_ISBN :
0-7695-2528-8
Type :
conf
DOI :
10.1109/ISDA.2006.253909
Filename :
4021736
Link To Document :
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