Observer-based Fuzzy Memory Control for Single-Link Robotic Arm System
LIU Shanzhong
ZHANG Yaping
JIANG Zhenhua
Abstract：This paper addresses the single-link robotic arm system,which is subject to nonlinearity,mixed delays,external disturbances,and parametric uncertainties,by establishing a unified model using the T-S fuzzy approach.To address the issue of incomplete state acquisition caused by the inability to directly measure system states,a state observer is designed to estimate the system states.Based on this,a fuzzy memory controller is incorporated to integrate historical state information into the control strategy,optimizing the system's dynamic performance.Furthermore,a Lyapunov-Krasovskii functional containing the upper and lower bounds of time delays is constructed,and less conservative stability criteria are derived to ensure the system meets H∞ performance requirements.Finally,simulation results demonstrate that this method effectively reduces modeling conservativeness and exhibits robust control performance in complex dynamic environments.
Keywords：T-S fuzzy systemmemory controllerobserversingle-link robotic arm system
Publication Date：2025-06-25
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 45-54 )