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
收藏
页码：637 / 642
页数：6
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