Fuzzy Control of Inverter Pendulum Robot via Perturbed Time-Delay Affine T-S Fuzzy Models

摘要

This paper presents a robust fuzzy control method, combining affine Takagi-Sugeno (T-S) fuzzy models and H?? performance constraints, for stability analysis and controller design of an inverted pendulum robot to simulate human stance. The inverted pendulum robot proposes that it is beneficial for the stance leg to behave like a pendulum. As mentioned above, in this paper, the T-S fuzzy model is used to describe a nonlinear inverted pendulum robot system with perturbations and time delays. Moreover, some sufficient conditions are derived on robust H?? disturbance attenuation in which both robust stability and a prescribed performance are achieved, simultaneously. Finally, a numerical simulation for the nonlinear inverted pendulum robot system is given to show the applications of the present design approach.