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

2003-12-12
Gurkan, E
Banks, SP
Erkmen, İsmet
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.