{"title":"基于模型的柔性关节机械臂模糊控制:LMI方法","authors":"M. Seidi, A. Markazi","doi":"10.1109/ISMA.2008.4648839","DOIUrl":null,"url":null,"abstract":"In this paper a control approach for a flexible robotic manipulator using a model-based fuzzy technique is investigated. The developed controller is based on Takagi-Sugeno fuzzy modelling and LMI (linear matrix inequality) analysis. By utilizing the concept of parallel distributed compensation (PDC) by considering decay rate and constraints on control input, the design of fuzzy controller is presented. The effectiveness of the proposed method is demonstrated through comparison with other existing methods.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"59 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Model-Based Fuzzy control of flexible joint manipulator: A LMI approach\",\"authors\":\"M. Seidi, A. Markazi\",\"doi\":\"10.1109/ISMA.2008.4648839\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper a control approach for a flexible robotic manipulator using a model-based fuzzy technique is investigated. The developed controller is based on Takagi-Sugeno fuzzy modelling and LMI (linear matrix inequality) analysis. By utilizing the concept of parallel distributed compensation (PDC) by considering decay rate and constraints on control input, the design of fuzzy controller is presented. The effectiveness of the proposed method is demonstrated through comparison with other existing methods.\",\"PeriodicalId\":350202,\"journal\":{\"name\":\"2008 5th International Symposium on Mechatronics and Its Applications\",\"volume\":\"59 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2008-05-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2008 5th International Symposium on Mechatronics and Its Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISMA.2008.4648839\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2008 5th International Symposium on Mechatronics and Its Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISMA.2008.4648839","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Model-Based Fuzzy control of flexible joint manipulator: A LMI approach
In this paper a control approach for a flexible robotic manipulator using a model-based fuzzy technique is investigated. The developed controller is based on Takagi-Sugeno fuzzy modelling and LMI (linear matrix inequality) analysis. By utilizing the concept of parallel distributed compensation (PDC) by considering decay rate and constraints on control input, the design of fuzzy controller is presented. The effectiveness of the proposed method is demonstrated through comparison with other existing methods.
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