Title :
Stable controller design for the T-S fuzzy model of a flexible-joint robot arm based on Lie algebra
Author :
Gürkan, Evren ; Banks, Stephen P. ; Erkmen, I.
Author_Institution :
Dept. of Electr. & Electron. Eng., Middle East Tech. Univ., Ankara, Turkey
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.
Keywords :
Lie algebras; control system synthesis; flexible manipulators; fuzzy systems; linear systems; stability; stability criteria; Lie algebra; Takagi-Sugeno fuzzy model; Takagi-Sugeno fuzzy systems; flexible joint robot arm; linear subsystems; robotic system; stability criteria; stable controller design; Algebra; Control systems; Equations; Fuzzy control; Fuzzy systems; Robots; Stability analysis; Systems engineering and theory; Takagi-Sugeno model; Uncertainty;
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Print_ISBN :
0-7803-7924-1
DOI :
10.1109/CDC.2003.1272321
