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Fuzzy continuous gain scheduled H∞ control based on Taylor series fitting for robotic manipulators

Published online by Cambridge University Press:  04 July 2002

Zhongwei Yu ,
Huitang Chen  and
Peng-Yung Woo
Zhongwei Yu
Affiliation:
Information and Control Engineering Dept., Tonji University, Shanghai (China)
Huitang Chen
Affiliation:
Information and Control Engineering Dept., Tonji University, Shanghai (China)
Peng-Yung Woo
Affiliation:
Electrical Engineering Dept., Northern Illinois University, Dekalb, I1. 60115 (USA)
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Abstract

A new approach to the design of a fuzzy continuous gain scheduled H∞ controller based on Taylor series fitting for n-joint rigid robotic manipulators, which guarantees satisfactory dynamic characteristics in the whole movement range, is presented. This scheme combines the gain scheduled H∞ theory with the Linear Matrix Inequalities (LMI) approach to design a continuous gain scheduled H∞ controller, which is applicable to systems with fast state variations so that the deficiency of the coventional gain scheduled controllers is overcome, with the use of Taylor series fitting. Fuzzy control is then incorporated so that the design controller possesses the characteristics of a fast response for large errors and a well-damped response for small errors. The system thus always has a good dynamic performance along with the variations of the system states. Simulations and experiments demonstrate the effectiveness of the designed controller.

Keywords

Fuzzy controlContinuous gainTaylor series
Type
Research Article
Information
Robotica , Volume 20 , Issue 4 , July 2002 , pp. 451 - 462
Copyright
© 2002 Cambridge University Press

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