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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/26489

Title: Synthesis of Fuzzy Control for Inverter Pendulum Robot with H∞ Performance Constraint
Authors: Wen-Jer Chang;Wei-Han Huang;Wei Chang
Contributors: 國立臺灣海洋大學:輪機工程學系
Keywords: Inverted Pendulum Robot;Takagi-Sugeno Fuzzy Model;Time-delay;S-procedure;Iterative Linear Matrix Inequality
Date: 2009
Issue Date: 2011-10-20T08:36:08Z
Publisher: IAENG International Journal of Computer Science
Abstract: Abstract:The purpose of this paper is to give one set of stability and stabilization conditions for an inverted pendulum robot which simulating human stance under the framework of Discrete Perturbed Time-Delay Affine (DPTDA) Takagi–Sugeno (T–S) fuzzy models. In the beginning, the mathematical model of inverted pendulum robot system and the corresponding DPTDA T–S fuzzy model are introduced. Next, some sufficient conditions are derived on robust H∞ disturbance attenuation, in which the robust stability and prescribed performance are achieved. In order to find suitable fuzzy controllers, the Iterative Linear Matrix Inequality (ILMI) algorithm is employed to solve these sufficient conditions. Finally, a numerical simulation for the nonlinear inverted pendulum robot system is given to show the applications of the presented controller design approach.
Relation: 36(3), pp.208-217
URI: http://ntour.ntou.edu.tw/handle/987654321/26489
Appears in Collections:[輪機工程學系] 期刊論文

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