Stable controller design for the T-S fuzzy model of a flexible-joint robot arm based on Lie algebra.

Evren Gürkan Stephen P. Banks Ismet Erkmen

Published in: CDC (2003)

Keyphrases

robot arm
nonlinear systems
controller design
fuzzy model
takagi sugeno
fuzzy modeling
fuzzy systems
input output
control strategies
membership functions
fuzzy controller
fuzzy clustering
fuzzy rules
rule base
fuzzy sets
control system
motion planning
control scheme
real time
control law
fuzzy logic controller