DocumentCode
404225
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
Volume
5
fYear
2003
fDate
9-12 Dec. 2003
Firstpage
4717
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7924-1
Type
conf
DOI
10.1109/CDC.2003.1272321
Filename
1272321
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