Proceedings of the Korean Institute of Intelligent Systems Conference (한국지능시스템학회:학술대회논문집)
- 2003.05a
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- Pages.315-318
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- 2003
Robust Output-Tracking Control of Uncertain Takagi-Sugeno Fuzzy Systems
Abstract
A systematic output-tracking control design technique for robust control of Takagi-Sugeno (T-S) fuzzy systems with norm-bounded uncertainties is developed. The uncertain T-S fuzzy system is first represented as a set of uncertain local linear systems. The tracking problem is then converted into the stabilization problem for a set of uncertain local linear systems thereby leading to a more feasible controller design procedure. A sufficient condition for robust asymptotic output tracking is derived in terms of a set of linear matrix inequalities (LMIs). A stability condition on the traversing time-instances is also established. The output tracking control simulation for a flexible-joint robot-arm model is demonstrated, to convincingly show the effectiveness of the proposed system modeling and controller design method.
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