Title :
Design of LMI-Based Fuzzy Controller for Robot Arm Using Quantum Evolutionary Algorithms
Author :
Yu, Gwo-Ruey ; Huang, Lun-Wei
Author_Institution :
Dept. of Electr. Eng., Nat. I-Lan Univ., I-Lan, Taiwan
Abstract :
The object of this paper is to design a LMI-based fuzzy controller for a MIMO two-link robot arm using quantum evolutionary algorithms. The Takagi-Sugeno (T-S) fuzzy approach is utilized to represent the equation of motion of two-link robot arm. The stability of the fuzzy system is guaranteed by linear matrix inequality (LMI) from Lyapunov stability approach. The quantum evolutionary algorithms (QEA) are applied to find the best parameter matrix of LMI. According to QEA and LMI, the parallel distributed compensation (PDC) controller is obtained to track the state trajectory of a reference model.
Keywords :
Lyapunov methods; MIMO systems; control system synthesis; evolutionary computation; fuzzy control; fuzzy systems; linear matrix inequalities; position control; robots; LMI-based fuzzy controller design; Lyapunov stability approach; MIMO two-link robot arm; Takagi-Sugeno fuzzy approach; fuzzy system; linear matrix inequality; parallel distributed compensation controller; quantum evolutionary algorithms; state trajectory; Algorithm design and analysis; Equations; Evolutionary computation; Fuzzy control; Fuzzy systems; Linear matrix inequalities; MIMO; Robot control; Stability; Takagi-Sugeno model;
Conference_Titel :
Innovative Computing, Information and Control (ICICIC), 2009 Fourth International Conference on
Conference_Location :
Kaohsiung
Print_ISBN :
978-1-4244-5543-0
DOI :
10.1109/ICICIC.2009.166
