Modelling and control of flexible joint robot based on Takagi–Sugeno fuzzy approach and its stability analysis via sum of squares

M. Hosseinpour, P. Nikdel, M.A. Badamchizadeh and M.A. Akbari

Mathematical and Computer Modelling of Dynamical Systems, 2013, vol. 19, issue 3, 250-262

Abstract: This article proposes a Takagi–Sugeno (T-S) fuzzy model of single-link rotary flexible joint robot. The proposed control method is based on parallel distributed control. The parameters of T-S controller are improved by distributed population genetic algorithm (GA) with chaos GA. Using Hermite–Biehler theorem in distributed population, GA is made to have a fast convergence. Dividing search space into several sub-spaces causes a better response, and chaos disturbance helps the whole algorithm to reach a best answer. The stability of the controller is analysed via the sum of squares programming, and finally, it is implemented on the plant.

Date: 2013
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/13873954.2012.731653 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:nmcmxx:v:19:y:2013:i:3:p:250-262

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/NMCM20

DOI: 10.1080/13873954.2012.731653

Access Statistics for this article

Mathematical and Computer Modelling of Dynamical Systems is currently edited by I. Troch

More articles in Mathematical and Computer Modelling of Dynamical Systems from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().