Model-based fuzzy control of flexible joint manipulator: A LMI approach

Proceeding of the 5th International Symposium on Mechatronics and its Applications, ISMA 2008

Volumn , Issue , 2008, Pages

  Seidi, Morteza ^a   Markazi, Amir Hosein Davaie ^a  

^a IRAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Iran)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL APPROACH; CONTROL INPUTS; DECAY RATE; EXISTING METHOD; FLEXIBLE JOINT MANIPULATOR; FLEXIBLE ROBOTIC MANIPULATORS; FUZZY CONTROLLERS; FUZZY MODELLING; FUZZY TECHNIQUES; LMI (LINEAR MATRIX INEQUALITY); LMI APPROACH; MODEL-BASED; PARALLEL DISTRIBUTED COMPENSATION; TAKAGI-SUGENO;

CONTROLLERS; DECAY (ORGANIC); FEEDBACK CONTROL; FLEXIBLE MANIPULATORS; LINEAR CONTROL SYSTEMS; LINEAR MATRIX INEQUALITIES; MECHATRONICS;

FUZZY CONTROL;

EID: 69549111165     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ISMA.2008.4648839     Document Type: Conference Paper

References (16)

1. M.Spong, "Modeling and Control of Elastic Joint Robot," A.S.M.E. Journal of Dynamic Systems, Measurment and Control, vol.109, pp. 310-319,1987 (Pubitemid 18534691)
2. M.W. Spong, G.Chen, E.B.Lee, W.Littman, L.Markus "The control of FJRs: A survey," in New Trends and Applications of Distributed Parameter control systems, 1990.
3. Ozgoli S. and Taghirad H.D., A survey on the control of flexible joint robots, submitted to Asian Journal of Control., 2004.
4. K. Khorasani, .Adaptive control of flexible joint robots., IEEE Trans. Robotics and Automation, 8(2): 250-257, 1992.
5. th Conf. Decision and Control, 2:1188-1193, 1990
6. H.D. Taghirad and M.A. Khosravi, .Stability analysis, and robust PID design for flexible joint robots., Proceedings of the International Symposium on Robotics, 1:144-149, 2000.
7. K, Tanaka and M. Sugeno, "Stability analysis and design of fuzzy control systems," Fuzzy Sets and Systems," vol. 45, no. 2, pp. 135-156,1992
8. H.O. Wang, K. Tanaka, and M.F. Griffin, "An approach to fuzzy control of nonlinear systems: stability and design issues," IEEE Trans. on Fuzzy Systems, Vol.4, No.1, pp. 14-23, 1996. (Pubitemid 126782417)
9. K. Tanaka.; M. Sano.; "A robust stabilization problem of fuzzy control systems and its applications to backing up control of a truck trailer", IEEE Trans. Fuzzy. Syst., vol.2, no.5, pp. 119 - 134, 1994
10. H. D. Taghirad, H. Rahimi, "Composite QFT Controller Design for Flexible Joint Robots",IEEE Conf. on Control Applications, Canada, 2005
11. K. Tanaka, T. Taniguchi, and H. O. Wang, "Model-Based Fuzzy Control of TORA System: Fuzzy Regulator and Fuzzy Observer Design via LMIs that Represent Decay Rate, Disturbance Rejection, Robustness, Optimality," Seventh IEEE International Conference on Fuzzy Systems, Alaska, 1998, pp. 313-318.
12. K. Tanaka, T. Ikeda, and H. O. Wang, "Design of Fuzzy Control Systems Based on Relaxed LMI Stability Conditions," 35th IEEE Conference on Decision and Control, Kobe, Vol.1, 1996, pp. 598-603.
13. K. Tanaka, T. Ikeda, and H. O. Wang, "Fuzzy Regulators and Fuzzy Observers," IEEE Trans. Fuzzy Syst., Vol.6, No.2, pp. 250-265 (1998).
14. A. Ichikawa et al., Control Hand Book, Ohmu Publisher, 1993, Tokyo in Japanese.
15. Kazuo Tanaka, Hua O. Wang, "Fuzzy Control Systems Design and Analysis: A Linear Matni Inequaliy Approach", 2001 John Wiley & Sons, Inc. pp.66-68
16. Taghirad H.D., Bakhshi Gh., "Composite H∞ controller synthesis for FJRs", Int. Conf. on Intelligent and Robotics Systems, 2002