A Proposal of Multiobjective Fuzzy Regulator Design for State Space Nonlinear Systems

Rafael J. M. Santos; Ginalber L. O. Serra

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Paper

A Proposal of Multiobjective Fuzzy Regulator Design for State Space Nonlinear Systems

Topics: Fuzzy Control

In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 50-58, 2012 , Rome, Italy

Authors: Rafael J. M. Santos and Ginalber L. O. Serra

Affiliation: Federal Institute of Education and Science and Technology, Brazil

Keyword(s): Fuzzy Regulator, Optimal Control, Linear Quadratic Regulator, Pole Placement, Multiobjective Feasible Region.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Computational Intelligence ; Fuzzy Control ; Fuzzy Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Soft Computing

Abstract: This paper proposes a Takagi-Sugeno (TS) fuzzy regulator design methodology for nonlinear dynamic systems. The Linear Quadratic Regulator (LQR) and Pole Placement (PP) techniques are combined in a TS fuzzy structure in order to guarantee an optimal controller with satisfactory transient response based on poles allocated properly. The definition and analysis of the multiobjective feasible region, considering the influence of the desired poles on the weighting matrices Q and R in the quadratic cost function, are presented. Lyapunov based stability analysis and simulations results on fuzzy regulator design for a robotic manipulator illustrates the efficience of the proposed methodology.

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Paper citation in several formats:

J. M. Santos, R. and L. O. Serra, G. (2012). A Proposal of Multiobjective Fuzzy Regulator Design for State Space Nonlinear Systems. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8565-21-1; ISSN 2184-2809, SciTePress, pages 50-58. DOI: 10.5220/0004018300500058

@conference{icinco12,
author={Rafael {J. M. Santos}. and Ginalber {L. O. Serra}.},
title={A Proposal of Multiobjective Fuzzy Regulator Design for State Space Nonlinear Systems},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2012},
pages={50-58},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004018300500058},
isbn={978-989-8565-21-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - A Proposal of Multiobjective Fuzzy Regulator Design for State Space Nonlinear Systems
SN - 978-989-8565-21-1
IS - 2184-2809
AU - J. M. Santos, R.
AU - L. O. Serra, G.
PY - 2012
SP - 50
EP - 58
DO - 10.5220/0004018300500058
PB - SciTePress