IEEE ICRA'07 Digest Template

1
Fuzzy Control of Inverted Robot Arm with
Perturbed Time-Delay Affine Takagi-Sugeno Fuzzy
Model
Wen-Jer Chang, Wei-Han Huang and Wei Chang
Dept. of Marine Engineering, National Taiwan
Ocean University, R.O.C.

• An Affine T-S fuzzy model of the time-delay
  perturbed inverted robot arm system was
  constructed.
• The analysis and synthesis for the controller
  design problem was solved by the T-S fuzzy
  control theory.
• An ILMI algorithm was developed to find suitable
  fuzzy control gains for the closed-loop stability
  conditions.

Inverted robot arm system