A stable state-feedback fuzzy controller employing linear matrix inequalities for flexible link robotic arm

The present paper proposes the design of a stable state-feedback fuzzy controller for a flexible robotic arm. The fuzzy controller is designed employing parallel distributed compensation philosophy where one local control rule is designed for each local fuzzy plant rule. A neuro-fuzzy architecture is employed to derive the approximate state-space model for the flexible robotic arm on the basis of experimental data collected from the real plant. A stable fuzzy controller is designed by recasting the stability conditions in form of linear matrix inequalities and hence deriving the appropriate control gains. The suitability of the control design strategy is successfully demonstrated by implementing it for the real robotic arm.