Fuzzy passivity Control of Flexible Joint Robot

被引：1
|
作者：
Zhang, Bin [1 ]
机构：
[1] Beijing Univ Posts & Telecommun, Automat Sch, Beijing 100088, Peoples R China
来源：
RESEARCH IN MATERIALS AND MANUFACTURING TECHNOLOGIES, PTS 1-3 | 2014年 / 835-836卷
关键词：
Flexible Joint Robot; T-S Fuzzy Model; PDC; Passivity Control; SYSTEMS;
D O I：
10.4028/www.scientific.net/AMR.834-836.1229
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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.
引用
收藏
页码：1229 / 1233
页数：5
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