Dissipative Control for Single Flexible Joint Robotic System via T-S Fuzzy Modelling Approach

被引：0

作者：

Datta, Rupak ^{[1
]}

Dey, Rajeeb ^{[1
]}

Adhikari, Nabanita ^{[1
]}

机构：

[1] Natl Inst Technol Silchar, Dept Elect Engn, Silchar 788010, India

来源：

IFAC PAPERSONLINE | 2022年 / 55卷 / 01期

关键词：

Dissipativity analysis; Takagi-Sugeno fuzzy modelling; Parallel distributed compensation; linear matrix inequality; Lyapunov-Krasovskii functional; STABILIZATION;

D O I：

10.1016/j.ifacol.2022.04.104

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The dissipativity analysis for single flexible joint robotic system via Takagi-Sugeno (T-S) fuzzy modelling technique is the main focus of this paper. Our aim is to design a delayed state feedback controller by using parallel distributed compensation (PDC) so that the considered system is asymptotically stable with a phi(2), phi(3)) -gamma- dissipativity condition is derived in terms of linear matrix inequality (LMI) framework by constructing an appropriate Lyapunov Krasovskii functional (LKF) and using higher order polynomial based integral inequality (HOPBII) to estimate its derivative. Finally, numerical simulation result is given to show the effectiveness of the proposed theoretical method. Copyright (C) 2022 The Authors.

引用

页码：637 / 642

页数：6

共 50 条

[1] H∞ Control of Flexible Joint Robot via T-S Fuzzy Model
Wang, Feng
Liu, Xiaoping
MEASURING TECHNOLOGY AND MECHATRONICS AUTOMATION IV, PTS 1 AND 2, 2012, 128-129 : 894 - 897
[2] Dissipative Control for Delayed T-S Fuzzy System with Data Packet Dropout
Datta, Rupak
Saravanakumar, Ramasamy
2021 8TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING & MACHINE INTELLIGENCE (ISCMI 2021), 2021, : 43 - 47
[3] Robust Fuzzy Tracking Control of Flexible Spacecraft via a T-S Fuzzy Model
Sendi, Chokri
Ayoubi, Mohammad A.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2018, 54 (01) : 170 - 179
[4] Networked control for robotic manipulators via T-S fuzzy control and descriptor representation
Zhang, Jianhua
Hou, Guolian
Wang, Yunze
Zhang, Jinfang
ISDA 2006: SIXTH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS DESIGN AND APPLICATIONS, VOL 2, 2006, : 628 - +
[5] Extended Dissipative Sliding Mode Control for T-S Fuzzy Polynomial Singular System
Liu, Jiarui
Li, Jiangrong
Zhu, Jiming
2024 3RD CONFERENCE ON FULLY ACTUATED SYSTEM THEORY AND APPLICATIONS, FASTA 2024, 2024, : 517 - 522
[6] Design of Fuzzy Controller via T-S Fuzzy Approach
Havagondi, Menka M.
Katkol, Pranita S.
Patil, Utkarsh V.
Patil, A. B.
2014 IEEE INTERNATIONAL CONFERENCE ON CIRCUIT, POWER AND COMPUTING TECHNOLOGIES (ICCPCT-2014), 2014, : 922 - 926
[7] Relaxed T-S Fuzzy Control Design by Descriptor System Approach
Sun, Chung-Hsun
Yeh, Yun-Chi
INDUSTRIAL INSTRUMENTATION AND CONTROL SYSTEMS, PTS 1-4, 2013, 241-244 : 1180 - +
[8] Strictly quadratic dissipative control for continuous T-S fuzzy systems
He, Xi-Qin
Chen, Gang
Zhang, Da-Qing
Kongzhi yu Juece/Control and Decision, 2009, 24 (11): : 1744 - 1748
[9] (Q, S, R)-γ-dissipative control of T-S fuzzy systems via aperiodic sampling control with communication delay
Qin, Xi
Wang, Zhen
Dong, Yulin
Yao, Lan
EXPERT SYSTEMS WITH APPLICATIONS, 2024, 239
[10] Robust Dissipative Control for Sampled-data System Based on T-S Fuzzy Model
Lian H.-H.
Xiao S.-P.
Luo Y.-P.
Zhou B.-F.
Zidonghua Xuebao/Acta Automatica Sinica, 2022, 48 (11): : 2852 - 2862

← 1 2 3 4 5 →