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 b...
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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 distributedpopulationgeneticalgorithm (GA) with chaos GA. Using Hermite-Biehler theorem in distributedpopulation, 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.
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