Takagi-Sugeno fuzzy scheme for real-time trajectory tracking of an underactuated robot

Takagi-Sugeno fuzzy scheme for real-time trajectory tracking of an underactuated robot

This paper presents an approach to achieve trajectory tracking for nonlinear systems. Combining the linear regulator theory with Takagi-Sugeno (T-S) fuzzy methodology; an algorithm is described for the trajectory tracking. The main contribution of the paper includes a real-time application of this a...

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Veröffentlicht in:IEEE transactions on control systems technology 2002-01, Vol.10 (1), p.14-20
Hauptverfasser: Begovich, O., Sanchez, E.N., Maldonado, M.
Format: Artikel
Sprache:eng
Schlagworte:
Algorithms
Applied sciences
Computer science
control theory
systems
Control system synthesis
Control systems
Control theory. Systems
Exact sciences and technology
Fuzzy
Fuzzy control
Fuzzy logic
Fuzzy set theory
Fuzzy systems
Nonlinear control systems
Nonlinear dynamical systems
Nonlinear systems
Process control. Computer integrated manufacturing
Real time
Regulators
Robotics
Robots
Takagi-Sugeno model
Tracking
Trajectories
Trajectory
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Zusammenfassung:This paper presents an approach to achieve trajectory tracking for nonlinear systems. Combining the linear regulator theory with Takagi-Sugeno (T-S) fuzzy methodology; an algorithm is described for the trajectory tracking. The main contribution of the paper includes a real-time application of this algorithm to a specific two-rigid-link underactuated robot, called the Pendubot.
ISSN:1063-6536
1558-0865
DOI:10.1109/87.974334