Designing a stable model-based fuzzy controller for a novel 6-DOF parallel manipulator with rotary actuators

Author

Azizan, H. ; Keshmiri, Mehdi ; Jafarinasab, M.

Author_Institution

Mech. Eng. Dept., Isfahan Univ. of Technol., Isfahan, Iran

fYear

2011

fDate

3-7 July 2011

Firstpage

1034

Lastpage

1039

Abstract

This paper focuses on the designing of a stable model-based fuzzy controller for a six degrees of freedom (DOF) parallel manipulator with rotary actuators. This type of parallel manipulator has a challenging dynamics to control. Based on the nonlinear dynamical model of the system a Takagi-Sugeno fuzzy model of the system is presented through a combination of linear systems. The concept of Parallel Distributed Compensation (PDC) is used to design a fuzzy controller from the Takagi-Sugeno fuzzy model of the manipulator. Stability of the designed fuzzy control system is guaranteed via Lyapunov approach. The sufficient conditions for the existence of an appropriate controller are presented in terms of Linear Matrix Inequalities (LMIs). To show the efficiency of the proposed approach, numerical simulations are performed for a typical system.

Keywords

Lyapunov matrix equations; actuators; compensation; control system synthesis; distributed control; fuzzy control; linear matrix inequalities; linear systems; manipulator dynamics; nonlinear dynamical systems; numerical analysis; stability; 6-DOF parallel manipulator; Lyapunov approach; Takagi-Sugeno fuzzy model; dynamics control; fuzzy control system stability; fuzzy controller design; linear matrix inequalities; linear system; model stability; nonlinear dynamical model; numerical simulation; parallel distributed compensation; rotary actuators; Actuators; Equations; Joints; Manipulator dynamics; Mathematical model; Nonlinear dynamical systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on

Conference_Location

Budapest

ISSN

2159-6247

Print_ISBN

978-1-4577-0838-1

Type

conf

DOI

10.1109/AIM.2011.6027125

Filename

6027125