Title :
LMI-based stability design of fuzzy controller for nonlinear systems
Author :
Lam, H.K. ; Seneviratne, L.D.
Author_Institution :
Dept. of Electron. Eng., King´´s Coll., London
fDate :
1/1/2007 12:00:00 AM
Abstract :
The tracking control of nonlinear systems based on the fuzzy-model-based approach has been presented. A fuzzy controller was designed to drive the system states of the nonlinear system to follow those of a reference model. Stability conditions were derived to guarantee the system stability. The finding of the parameters of fuzzy controller was formulated as a generalised eigenvalue problem. An application example on applying the proposed approach to a two-link robot arm was given.
Keywords :
control system synthesis; eigenvalues and eigenfunctions; fuzzy control; linear matrix inequalities; manipulators; nonlinear control systems; stability; tracking; LMI-based stability design; fuzzy controller; generalised eigenvalue problem; nonlinear systems; tracking control; two-link robot arm;
Journal_Title :
Control Theory & Applications, IET
DOI :
10.1049/iet-cta:20060105
