Stability Control of Flexible Joint Robot Based T-S Fuzzy Model Using Fuzzy Lyapunov Function

Abstract

In this paper, a stability control approach of flexible joint robot (FJR) based T-S fuzzy model using fuzzy Lyapunov function is proposed. First, the Takagi and Sugeno (T-S) fuzzy model is employed to approximate the flexible joint robot, then a fuzzy controller is developed based on parallel distributed compensation principle (PDC). The non-quadratic stability conditions for the flexible joint robot control system are proposed by using fuzzy Lyapunov function combined with linear matrix inequality (LMI). Finally, the simulation example is given to illustrate the effectiveness of the proposed method.