Robotic arm control design using piecewise Lyapunov function: An LMI approach

In this paper we present a fuzzy output feedback controller. We start by constructing piecewisequadratic Lyapunov functions for stability achievement and designing of state feedback controllers for continuous time fuzzy systems. It is shown that achieving stability and performance, or designing state feedback controllers, can be cast as convex optimization problems involving linear matrix inequalities that can be solved very efficiently. Then the fuzzy observer is designed based on a relaxed condition common Lyapunov function. Each of the observer and controller are designed separately in a two-step procedure. A twolink robot manipulator, which is nonlinear MIMO system, is used to investigate the design.