Designing a decentralized LQ controller for an industrial robot manipulator based on optimization techniques

D. Yazdani, S. M. Azizi, A. Bakhshai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationInternational Symposium on Industrial Electronics 2006, ISIE 2006
Pages3078-3083
Number of pages6
DOIs
StatePublished - Dec 1 2006
Externally publishedYes
EventInternational Symposium on Industrial Electronics 2006, ISIE 2006 - Montreal, QC, Canada
Duration: Jul 9 2006Jul 13 2006

Publication series

NameIEEE International Symposium on Industrial Electronics
Volume4

Conference

ConferenceInternational Symposium on Industrial Electronics 2006, ISIE 2006
CountryCanada
CityMontreal, QC
Period7/9/067/13/06

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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