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

Author

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  • M. Hosseinpour
  • P. Nikdel
  • M.A. Badamchizadeh
  • M.A. Akbari

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.

Suggested Citation

  • M. Hosseinpour & P. Nikdel & M.A. Badamchizadeh & M.A. Akbari, 2013. "Modelling and control of flexible joint robot based on Takagi–Sugeno fuzzy approach and its stability analysis via sum of squares," Mathematical and Computer Modelling of Dynamical Systems, Taylor & Francis Journals, vol. 19(3), pages 250-262.
    • Handle: RePEc:taf:nmcmxx:v:19:y:2013:i:3:p:250-262
    DOI: 10.1080/13873954.2012.731653
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