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

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

2012

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.

Paper Citation

in Harvard Style

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, pages 50-58. DOI: 10.5220/0004018300500058

in Bibtex Style

@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},
}

in EndNote Style

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
AU - J. M. Santos R.
AU - L. O. Serra G.
PY - 2012
SP - 50
EP - 58
DO - 10.5220/0004018300500058