Fuzzy stability control of robotic manipulator with input delays

Authors

Haiping Du, University of WollongongFollow
Fazel Naghdy, University of WollongongFollow
David A. Stirling, University of WollongongFollow

RIS ID

35179

Publication Details

H. Du, F. Naghdy & D. Stirling, "Fuzzy stability control of robotic manipulator with input delays," in ROBIO 2010 Proceedings, 2010, pp. 955-960.

Abstract

This paper studies the stabilisation control problem of a robotic manipulator with input delays. To deal with the highly nonlinear dynamics of a robotic manipulator, the model-based Takagi-Sugeno (T-S) fuzzy control strategy is applied. With representing the nonlinear robotic manipulator model as a T-S fuzzy model, sufficient conditions for designing a controller such that the system is stabilised with given decay rate are derived by constructing a less conservative Lyapunov-Krasovskii functional and using a tighter bounding technology for cross terms and the free weighting matrix approach. With appropriate derivation, all the required conditions are expressed as linear matrix inequalities (LMIs). Numerical simulations on a two-link manipulator are used to validate the effectiveness of the proposed approach. The results show that the designed controllers can stabilise a robotic manipulator with given decay rate when time delays exist in the control inputs.