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

fYear

2009

fDate

7-9 Dec. 2009

Firstpage

978

Lastpage

981

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Innovative Computing, Information and Control (ICICIC), 2009 Fourth International Conference on

Conference_Location

Kaohsiung

Print_ISBN

978-1-4244-5543-0

Type

conf

DOI

10.1109/ICICIC.2009.166

Filename

5412645