Stable controller design for the T-S fuzzy model of a flexible-joint robot arm based on lie algebra

Gurkan E., Banks S., Erkmen I.

42nd IEEE Conference on Decision and Control, Hawaii, United States Of America, 9 - 12 December 2003, pp.4717-4722 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/cdc.2003.1272321
  • City: Hawaii
  • Country: United States Of America
  • Page Numbers: pp.4717-4722


In this paper, we develop a novel approach for the stability of T-S fuzzy systems using the Lie algebra generated by the linear subsystems used in the T-S model. The theory is illustrated on the T-S fuzzy model of a flexible joint robot arm. We use our approach to design a controller satisfying our Lie algebra based stability criteria and demonstrate its performance on the robotic system.