Fuzzy control for two-link arm robot via LPV T-S fuzzy models

摘要

This paper presents the stabilization conditions for designing fuzzy controller of two-link arm robot via Linear Parameter Varying (LPV) Takagi-Sugeno (T-S) fuzzy models. With the movable supportive base, the stochastic behavior of concerned system is considered in this paper for investigating the real environment. As mentioned above, combining the LPV system with T-S fuzzy model can approximate better the nonlinear two-link arm robot. Besides, the multiplicative noise term is introduced in the consequent part of fuzzy model to represent the stochastic behaviors. Based on the Lyapunov stability theory, the stability conditions are derived into Linear Matrix Inequality (LMI) problems that can be solved by using the convex optimal algorithm. Finally, simulation results are given to demonstrate the usefulness and applicability of the proposed fuzzy controller design approach.