文章基本信息

标题：Dissipative Control for Single Flexible Joint Robotic System via T–S Fuzzy Modelling Approach ⁎
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作者：Rupak Datta ; Rajeeb Dey ; Nabanita Adhikari 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2022
卷号：55
期号：1
页码：637-642
DOI：10.1016/j.ifacol.2022.04.104
语种：English
出版社：Elsevier
摘要：AbstractThe dissipativity analysis for single flexible joint robotic system via Takagi–Sugeno (T–S) fuzzy modelling technique is the main focus of this paper. Our aim is to design a delayed state feedback controller by using parallel distributed compensation (PDC) so that the considered system is asymptotically stable with a (Φ1, Φ2, Φ3)-γ- dissipative performance index. A delay-range-dependent strictly (Φ1, Φ2, Φ3) -γ- dissipativity condition is derived in terms of linear matrix inequality (LMI) framework by constructing an appropriate Lyapunov– Krasovskii functional (LKF) and using higher order polynomial based integral inequality (HOPBII) to estimate its derivative. Finally, numerical simulation result is given to show the effectiveness of the proposed theoretical method.
关键词：KeywordsDissipativity analysisTakagiSugeno fuzzy modellingParallel distributed compensationlinear matrix inequalityLyapunovKrasovskii functional