TY - GEN
T1 - Designing a decentralized LQ controller for an industrial robot manipulator based on optimization techniques
AU - Yazdani, D.
AU - Azizi, S. M.
AU - Bakhshai, A.
PY - 2006
Y1 - 2006
N2 - In this paper, a method based on Broyden-Fletcher-Goldforb-Shanno (BFGS) optimization algorithm to design a decentralized controller for an industrial robot manipulator is presented. This method maintains all the necessary conditions for convergence such as stability, descending direction, and positive definiteness. It offers reasonable convergence rate which shows the effectiveness of the method, and the controller designed with this method shows high performance and decoupling property in time response. It is also compared with two other optimization algorithms, Davidson-Fletcher-Powel (DFP) and Steepest Descent, in the application to design a controller for an industrial robot manipulator. While the performance of the DFP algorithm is quite similar to the BFGS algorithm, the Steepest Descent method converges slowly and does not converge to the desired decentralized structure. Simulation results confirm the validity of the analytical work.
AB - In this paper, a method based on Broyden-Fletcher-Goldforb-Shanno (BFGS) optimization algorithm to design a decentralized controller for an industrial robot manipulator is presented. This method maintains all the necessary conditions for convergence such as stability, descending direction, and positive definiteness. It offers reasonable convergence rate which shows the effectiveness of the method, and the controller designed with this method shows high performance and decoupling property in time response. It is also compared with two other optimization algorithms, Davidson-Fletcher-Powel (DFP) and Steepest Descent, in the application to design a controller for an industrial robot manipulator. While the performance of the DFP algorithm is quite similar to the BFGS algorithm, the Steepest Descent method converges slowly and does not converge to the desired decentralized structure. Simulation results confirm the validity of the analytical work.
UR - http://www.scopus.com/inward/record.url?scp=53849108776&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=53849108776&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2006.296107
DO - 10.1109/ISIE.2006.296107
M3 - Conference contribution
AN - SCOPUS:53849108776
SN - 1424404975
SN - 9781424404971
T3 - IEEE International Symposium on Industrial Electronics
SP - 3078
EP - 3083
BT - International Symposium on Industrial Electronics 2006, ISIE 2006
T2 - International Symposium on Industrial Electronics 2006, ISIE 2006
Y2 - 9 July 2006 through 13 July 2006
ER -