A Fuzzy Based Model Coordination for Two-Level Optimal Control of Robot Manipulators

In this paper, a new fuzzy based Model Coordination (F-MC) strategy is proposed for hierarchical control of large-scale systems (LSS). To solve the overall problem with a two-level optimal control strategy, we first decompose the system into several sub-systems at the first level. Then, at the second level, a fuzzy coordinator will be used to predict the interaction between subsystems. The proposed fuzzy based coordination approach is applicable to all types of LSS. Although in this paper, an optimal control of a 2DOF robot manipulator, as a LSS, will be considered. The obtained results are compared with the centralized optimization.

[1]  Claudia-Adina Dragos,et al.  Iterative performance improvement of fuzzy control systems for three tank systems , 2012, Expert Syst. Appl..

[2]  Nasser Sadati,et al.  A Reinforcement Learning Approach to Intelligent Goal Coordination of Two-Level Large-Scale Control Systems , 2011 .

[3]  M. Sugeno,et al.  Structure identification of fuzzy model , 1988 .

[4]  M. Sugeno,et al.  Fuzzy modeling and control of multilayer incinerator , 1986 .

[5]  Nasser Sadati,et al.  Two-Level Robust Optimal Control of Large-Scale Nonlinear Systems , 2015, IEEE Systems Journal.

[6]  Ming Liu,et al.  Decentralized control of robot manipulators: nonlinear and adaptive approaches , 1999, IEEE Trans. Autom. Control..

[7]  N. Sadati,et al.  Novel interaction prediction approach to hierarchical control of large-scale systems , 2010 .

[8]  M. Mesarovic,et al.  Two coordination principles and their application in large scale systems control , 1970 .

[9]  Nasser Sadati,et al.  Optimal Control of Robot Manipulators Using Fuzzy Interaction Prediction System , 2006, 2006 IEEE International Conference on Robotics and Biomimetics.

[10]  N. Sadati.  A novel approach to coordination of large-scale systems; part II interaction balance principle , 2005, 2005 IEEE International Conference on Industrial Technology.

[11]  Michio Sugeno,et al.  Fuzzy identification of systems and its applications to modeling and control , 1985, IEEE Transactions on Systems, Man, and Cybernetics.

[12]  Magdi S. Mahmoud,et al.  Multilevel Systems Control and Applications: A Survey , 1977, IEEE Transactions on Systems, Man, and Cybernetics.

[13]  N. Sadati.  A novel approach to coordination of large-scale systems; part I interaction prediction principle , 2005, 2005 IEEE International Conference on Industrial Technology.