Stable controller design for the T-S fuzzy model of a flexible-joint robot arm based on lie algebra
42nd IEEE Conference on Decision and Control, Hawaii, Amerika Birleşik Devletleri, 9 - 12 Aralık 2003, ss.4717-4722, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/cdc.2003.1272321
- Basıldığı Şehir: Hawaii
- Basıldığı Ülke: Amerika Birleşik Devletleri
- Sayfa Sayıları: ss.4717-4722
- Orta Doğu Teknik Üniversitesi Adresli: Evet
Özet
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.