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This paper presents a robust fuzzy control method, combining affine Takagi-Sugeno (T-S) fuzzy models and Hinfin performance constraints, for stability analysis and controller design of an inverted pendulum robot to simulate human stance. The inverted pendulum robot proposes that it is beneficial for the stance leg to behave like a pendulum. As mentioned above, in this paper, the T-S fuzzy model is...
A stability analysis and controller synthesis methodology for an inverted robot arm system is proposed in this paper. This uncertain system is modeled by a state space Takagi-Sugeno (T-S) fuzzy model with linear nominal part and structure bounded parameter uncertainties in the state equations of each fuzzy rule. First, a sufficient condition on robust stability of the continuous perturbed time-delay...
This paper proposes a new type of a non-conventional electro-magnetic actuator (EMA) for a micro-positioner with larger moving range. It is a repulsive magnetic system consisting of a motion carrier and two active coils. The movement of the motion carrier is due to the repelling force between the coils and the magnets affixed to the carrier. First, the dynamic model is derived and analyzed. Next,...
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