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, Amerika Birleşik Devletleri, 9 - 12 Aralık 2003, ss.4717-4722 identifier identifier

  • 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.