H_∞ Control of Flexible Joint Robot via T-S Fuzzy Model

摘要

In this paper, a H_∞ control approach based on T-S fuzzy model for flexible joint robot is proposed. First, the Takagi and Sugeno(T-S) fuzzy model is applied to approximate the flexible joint robot. Then, a fuzzy controller is developed based on parallel distributed compensation principle(PDC), and H_∞ performance is employed to restrain the influence of modeling error caused by variety of stiffness. The stability conditions for the flexible joint robot control system are proposed by Lyapunov function. Finally, the simulation results are given to show the effectiveness of the proposed method.