Optimal design for robust control of uncertain flexible joint manipulators: a fuzzy dynamical system approach

被引：21

作者：

Han, Jiang ^{[1
]}

Chen, Ye-Hwa ^{[2
]}

Zhao, Xiaomin ^{[1
,3
]}

Dong, Fangfang ^{[1
]}

机构：

[1] Hefei Univ Technol, Sch Mech Engn, Hefei, Anhui, Peoples R China

[2] Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USA

[3] Hefei Univ Technol, Sch Automot & Transport Engn, Hefei, Anhui, Peoples R China

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2018年 / 91卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Fuzzy set; robust control; uncertain system; flexible joint manipulator; ADAPTIVE-CONTROL; FUZZINESS; OBSERVER; ROBOTS;

D O I：

10.1080/00207179.2017.1299945

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A novel fuzzy dynamical system approach to the control design of flexible joint manipulators with mismatched uncertainty is proposed. Uncertainties of the system are assumed to lie within prescribed fuzzy sets. The desired system performance includes a deterministic phase and a fuzzy phase. First, by creatively implanting a fictitious control, a robust control scheme is constructed to render the system uniformly bounded and uniformly ultimately bounded. Both the manipulator modelling and control scheme are deterministic and not IF-THEN heuristic rules-based. Next, a fuzzy-based performance index is proposed. An optimal design problem for a control design parameter is formulated as a constrained optimisation problem. The global solution to this problem can be obtained from solving two quartic equations. The fuzzy dynamical system approach is systematic and is able to assure the deterministic performance as well as to minimise the fuzzy performance index.

引用

页码：937 / 951

页数：15

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