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, United States Of America, 9 - 12 December 2003, pp.4717-4722, (Full Text)
- 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
- Middle East Technical University Affiliated: Yes
Abstract
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.