Model-Based Fuzzy control of flexible joint manipulator: A LMI approach

摘要

In this paper a control approach for a flexible robotic manipulator using a model-based fuzzy technique is investigated. The developed controller is based on Takagi-Sugeno fuzzy modelling and LMI (linear matrix inequality) analysis. By utilizing the concept of parallel distributed compensation (PDC) by considering decay rate and constraints on control input, the design of fuzzy controller is presented. The effectiveness of the proposed method is demonstrated through comparison with other existing methods.