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.


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.



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