H∞ Control of Flexible Joint Robot via T-S Fuzzy Model

摘要：

In this paper, a H∞ control approach based on T-S fuzzy model for flexible joint robot is proposed. First, the Takagi and Sugeno(T-S) fuzzy model is applied to approximate the flexible joint robot. Then, a fuzzy controller is developed based on parallel distributed compensation principle(PDC), and H∞ performance is employed to restrain the influence of modeling error caused by variety of stiffness. The stability conditions for the flexible joint robot control system are proposed by Lyapunov function. Finally, the simulation results are given to show the effectiveness of the proposed method.

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

作者: Feng Wang Xiaoping Liu

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

会议类型: 国际会议

会议名称: 4th International Conference on Measuring Technology and Mechatronics Automation(第四届检测技术与机电自动化国际会议 ICMTMA 2012)

会议地点: 三亚

会议语种:英文

页码: 894-897

在线出版日期: 2012-01-06（万方平台首次上网日期，不代表论文的发表时间）