Fuzzy Passivity Control of Flexible Joint Robot

Bin Zhang

doi:10.4028/www.scientific.net/AMR.834-836.1229

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 834-836Fuzzy Passivity Control of Flexible Joint Robot

Fuzzy Passivity Control of Flexible Joint Robot

Abstract:

This paper researches a fuzzy control method for passive flexible joint robot. Stability control method applying T-S fuzzy model is employed for single-link flexible joint robot. T-S fuzzy model is used to approximate the flexible joint robot firstly, and then fuzzy controller is developed based on the principle of parallel distributed compensation. The fuzzy controller is also applied to the passive properties of model error. The stability conditions are proposed by Lyapunov function and linear matrix inequalities are also applied to solve the controller parameters. Simulation results show that the proposed method of application value.

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Periodical:

Advanced Materials Research (Volumes 834-836)

Pages:

1229-1233

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.834-836.1229

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Online since:

October 2013

Authors:

Bin Zhang

Keywords:

Flexible Joint Robot, Passivity Control, PDC, T-S Fuzzy Model

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