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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/26514

Title: Robust Fuzzy Control of Inverter Pendulum Robot via Time-Delay Affine T-S Fuzzy Models
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: Fuzzy control;Takagi–Sugeno fuzzy models;robust control;time delay;inverted pendulum robot
Date: 2009
Issue Date: 2011-10-20T08:36:26Z
Publisher: Proc. of 2009 IAENG International Conference on Control and Automation
Abstract: Abstract:This paper presents a robust fuzzy control method, combining affine Takagi–Sugeno (T–S) fuzzy models and H-infinity performance constraints, for stability analysis and controller design of an inverted pendulum robot to simulate human stance. The inverted pendulum robot proposes that it is beneficial for the stance leg to behave like a pendulum. As mentioned above, in this paper, the T–S fuzzy model is used to describe a nonlinear inverted pendulum robot system with perturbations and time delays. Moreover, some sufficient conditions are derived on robust H-infinity disturbance attenuation in which both robust stability and a prescribed performance are achieved, simultaneously. Finally, a numerical simulation for the nonlinear inverted pendulum robot system is given to show the applications of the present design approach.
Relation: pp.1118-1123
URI: http://ntour.ntou.edu.tw/handle/987654321/26514
Appears in Collections:[輪機工程學系] 演講及研討會

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