Abstract
In this paper, a fuzzy H-inf control approach for flexible joint robot is proposed. First, the Takagi and Sugeno(T-S) fuzzy model is applied to approximate the flexible joint robot. Next, a fuzzy controller is developed based on parallel distributed compensation principle(PDC), and H-inf performance is introduced to restrain the influence of the bounded external disturbance. The sufficient conditions for the stability of the flexible joint robot control system are proposed by using Lyapunov function combined with the decay speed and linear matrix inequality(LMI). Finally, the simulation example is given to demonstrate the performance and robust of the proposed approach.
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Wang, F., Liu, X. (2011). Fuzzy H-inf Control of Flexible Joint Robot. In: Liu, B., Chai, C. (eds) Information Computing and Applications. ICICA 2011. Lecture Notes in Computer Science, vol 7030. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25255-6_54
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DOI: https://doi.org/10.1007/978-3-642-25255-6_54
Publisher Name: Springer, Berlin, Heidelberg
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