TY - GEN
T1 - Multi-objective robust control of flexible-link manipulators based on fuzzy singularly perturbed model with multiple perturbation parameters
AU - Yuan, Yuan
AU - Sun, Fuchun
AU - Liu, Huaping
AU - Wang, Qinyi
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
KW - flexible-link manipulator
KW - Fuzzy singularly perturbed model (FSPM)
KW - multi-objective robust control
KW - multiple perturbation parameters
UR - http://www.scopus.com/inward/record.url?scp=84873562724&partnerID=8YFLogxK
M3 - 会议稿件
AN - SCOPUS:84873562724
SN - 9789881563811
T3 - Chinese Control Conference, CCC
SP - 2613
EP - 2617
BT - Proceedings of the 31st Chinese Control Conference, CCC 2012
T2 - 31st Chinese Control Conference, CCC 2012
Y2 - 25 July 2012 through 27 July 2012
ER -