Multi-objective robust control of flexible-link manipulators based on fuzzy singularly perturbed model with multiple perturbation parameters

Yuan Yuan, Fuchun Sun, Huaping Liu, Qinyi Wang

科研成果: 书/报告/会议事项章节会议稿件同行评审

4 引用 (Scopus)

摘要

In this paper, we propose a fuzzy singularly perturbed model with multiple perturbation parameters to approximate the model of flexible-link manipulators. Because of the calculation stiffness in dealing with such a multiple time scale system, singular perturbed strategy is used in the control of flexible-link manipulators, which take more advantages than rigid-link manipulators. To approximate the nonlinear multi-time scale system more precisely, a fuzzy singularly perturbed model with multiple perturbation parameters is adopted, which is an extension of the one with a single perturbation parameter. In the framework of this model, a multi-objective robust controller is developed and its parameter independent solution is derived in the form of linear matrix inequalities. Some simulation results are given to show the effectiveness of the proposed approach using in the control of flexible-link manipulators.

源语言英语
主期刊名Proceedings of the 31st Chinese Control Conference, CCC 2012
2613-2617
页数5
出版状态已出版 - 2012
已对外发布
活动31st Chinese Control Conference, CCC 2012 - Hefei, 中国
期限: 25 7月 201227 7月 2012

出版系列

姓名Chinese Control Conference, CCC
ISSN(印刷版)1934-1768
ISSN(电子版)2161-2927

会议

会议31st Chinese Control Conference, CCC 2012
国家/地区中国
Hefei
时期25/07/1227/07/12

指纹

探究 'Multi-objective robust control of flexible-link manipulators based on fuzzy singularly perturbed model with multiple perturbation parameters' 的科研主题。它们共同构成独一无二的指纹。

引用此