Optimal design of robust control based on compound form: steady-state performance and control cost

Abstract

In this paper, we propose an optimal robust control for dealing with the uncertain fuzzy dynamical systems. First, a dynamical system is established with uncertainty. The uncertainty is nonlinear, time varying, and is regarded as bounded. The bound exists within a specified fuzzy set. Then, a robust control is proposed to ensure the system performance. The proposed control is deterministic, which is not on the basis of the IF-THEN rule. Besides, to achieve better performance, a performance index, including both the steady-state performance measurement and the control cost measurement of the system, is proposed. Furthermore, a fuzzy dynamical model of the robot joint module system is established with parameters uncertainty and external disturbance. By using the proposed optimal robust control, the performance of the dynamical system is not only definitely ensured but also optimized.