Stability Control of Flexible Joint Robot Based T-S Fuzzy Model Using Fuzzy Lyapunov Function

摘要：

In this paper, a stability control approach of flexible joint robot(FJR) based T-S fuzzy model using fuzzy Lyapunov function is proposed. First, the Takagi and Sugeno(T-S)fuzzy model is employed to approximate the flexible joint robot, then a fuzzy controller is developed based on parallel distributed compensation principle(PDC). The non-quadratic stability conditions for the flexible joint robot control system are proposed by using fuzzy Lyapunov function combined with linear matrix inequality (LM1). Finally, the simulation example is given to illustrate the effectiveness of the proposed method.

关键词： flexible joint robot T-S fuzzy model LMI PDC

作者: Feng Wang Xiao-Ping Liu

作者单位: Automation School Beijing University of Posts and Telecommunications Beijing, China

会议类型: 国际会议

会议名称: 2011 International Conference on Green Energy and Environmental Sustainable Development(2011年IEEE绿色能源与环境可持续发展国际会议 GEESD2011)

会议地点: 吉林

会议语种:英文

页码: 1739-1742

在线出版日期: 2011-11-04（万方平台首次上网日期，不代表论文的发表时间）