| Autor: |
Mohammad Hosein Kazemi, Mohammad Bagher Abolhasani Jabali |
| Jazyk: |
angličtina |
| Rok vydání: |
2018 |
| Předmět: |
|
| Zdroj: |
Ain Shams Engineering Journal, Vol 9, Iss 4, Pp 2841-2848 (2018) |
| Druh dokumentu: |
article |
| ISSN: |
2090-4479 |
| DOI: |
10.1016/j.asej.2018.03.001 |
| Popis: |
This paper proposes a new algorithm to full state systematic feedback control design for robot manipulators based on fuzzy-clustered polytopic model. At first, a linear parameter varying (LPV) representation of the system is generated via linearization of usual Lagrangian equation about a desired state trajectory and a vector of scheduling signals from the desired trajectory information is produced to construct an initial polytopic model. Then a fuzzy-clustering algorithm is introduced to categorize the vertices of the initial polytopic model in several clusters such that a sufficient condition of asymptotic stability of the closed loop models in each cluster is satisfied. Hence, the number of vertices is reduced to the number of clusters and a new reduced polytopic model is generated with the representative models of the clusters. The proposed algorithm is applied to control of a two-degree-of-freedom (DOF) robotic manipulator that illustrates the validity of the proposed scheme. Keywords: Fuzzy clustering, Linear matrix inequality, Polytopic models, Robot control |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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