PSO-based H∞ Fuzzy Control of an Underactuated Robot Using Linear Matrix Inequality
| Autor: | H. T. Hsieh, F.-Y. Wei, Gwo-Ruey Yu |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Lyapunov function
Mathematics::General Mathematics Computer science MathematicsofComputing_NUMERICALANALYSIS Mathematics::Optimization and Control Linear matrix inequality Particle swarm optimization Fuzzy control system Optimal control Fuzzy logic Computer Science::Robotics symbols.namesake Stability conditions ComputingMethodologies_PATTERNRECOGNITION Computer Science::Systems and Control Control theory symbols |
| Zdroj: | ICSSE |
| Popis: | This research presents the H∞ fuzzy control of an underactuated robot using particle swarm optimization (PSO) algorithms with linear matrix inequalities (LMI) stability conditions. First, linearizing the underactuated robot at various operating points establishes the T-S fuzzy model and fuzzy rules. Then the LMI-based stability conditions are derived for the underactuated robot through Lyapunov theory such that the T-S fuzzy control systems possess H∞ performance against external disturbance. Moreover, the optimal T-S fuzzy control gains are explored by using PSO algorithms. Results demonstrate the proposed PSO-based H∞ fuzzy controller is superior to the existing LMI-based H∞ fuzzy controller. |
| Databáze: | OpenAIRE |
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