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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/26272

Title: Fuzzy Control of Inverted Robot Arm with Perturbed Time-Delay Affine Takagi-Sugeno Fuzzy Model
Authors: W. J. Chang;W. H. Huang;W. Chang
Contributors: 國立臺灣海洋大學:輪機工程學系
Keywords: Inverted robot;Fuzzy control;Affine Takagi-Sugeno fuzzy model
Date: 2007-04
Issue Date: 2011-10-20T08:34:38Z
Publisher: 2007 IEEE International Conference on Robotics and Automation
Abstract: 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.
Relation: pp.4380-4385
URI: http://ntour.ntou.edu.tw/handle/987654321/26272
Appears in Collections:[輪機工程學系] 演講及研討會

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