Fuzzy H-inf Control of Flexible Joint Robot

  • Feng Wang
  • Xiaoping Liu
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7030)


In this paper, a fuzzy H-inf control approach for flexible joint robot is proposed. First, the Takagi and Sugeno(T-S) fuzzy model is applied to approximate the flexible joint robot. Next, a fuzzy controller is developed based on parallel distributed compensation principle(PDC), and H-inf performance is introduced to restrain the influence of the bounded external disturbance. The sufficient conditions for the stability of the flexible joint robot control system are proposed by using Lyapunov function combined with the decay speed and linear matrix inequality(LMI). Finally, the simulation example is given to demonstrate the performance and robust of the proposed approach.


Flexible joint robot T-S fuzzy model LMI PDC 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Feng Wang
    • 1
  • Xiaoping Liu
    • 1
  1. 1.Automation SchoolBeijing University of Posts and TelecommunicationsChina

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