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

Abstract

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.