Stable controller design for the T-S fuzzy model of a flexible-joint robot arm based on lie algebra

Date

2003-12-12

Author

Gurkan, E
Banks, SP
Erkmen, İsmet

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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.

Subject Keywords

Nonlinear-systems, Adaptive-control, Manipulators, Stability

URI

https://hdl.handle.net/11511/38735

DOI

https://doi.org/10.1109/cdc.2003.1272321

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

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Citation Formats

E. Gurkan, S. Banks, and İ. Erkmen, “Stable controller design for the T-S fuzzy model of a flexible-joint robot arm based on lie algebra,” 2003, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/38735.