2007 IEEE International Conference on Robotics and Automation
Abstract:A stability analysis and controller synthesis methodology for an inverted robot arm system is proposed in this paper. This uncertain system is modeled by a state space Takagi-Sugeno (T-S) fuzzy model with linear nominal part and structure bounded parameter uncertainties in the state equations of each fuzzy rule. First, a sufficient condition on robust stability of the continuous perturbed time-delay affine T-S (CPTDATS) fuzzy models of inverted robot arm is proposed. Then, Hinfin-disturbance attenuation performance of the fuzzy models is analyzed. At last, a numerical example shows the use of the proposed approach on the stabilization and Hinfin-disturbance attenuation for the inverted robot arm systems.