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...
Gespeichert in:
| Veröffentlicht in: | IEEE transactions on control systems technology 2002-01, Vol.10 (1), p.14-20 |
|---|---|
| Hauptverfasser: | , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 20 |
|---|---|
| container_issue | 1 |
| container_start_page | 14 |
| container_title | IEEE transactions on control systems technology |
| container_volume | 10 |
| creator | Begovich, O. Sanchez, E.N. Maldonado, M. |
| description | 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. |
| doi_str_mv | 10.1109/87.974334 |
| format | Article |
| fullrecord | <record><control><sourceid>proquest_RIE</sourceid><recordid>TN_cdi_crossref_primary_10_1109_87_974334</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>974334</ieee_id><sourcerecordid>2430104111</sourcerecordid><originalsourceid>FETCH-LOGICAL-c397t-6a7a68ac4b22a76a92d05708e3588eae479a158e79466f1cdb42d617e10910b93</originalsourceid><addsrcrecordid>eNqF0TtLxEAQB_AgCj4LW6sgqFhE9_0oRXyBYOFpG-Y2kzNnLqu7SXF-eve8Q8FCq52d_e0fhsmyfUrOKCX23OgzqwXnYi3bolKaghgl11NNFC-U5Goz245xSggVkumt7HkErzBpisdhgp3P6-HjY55H94IzzGsf8oDQFn2Tbn2AKbreh_midK9NN8l9nUOXD12FqdMP0GOVBz_2_W62UUMbcW917mRP11ejy9vi_uHm7vLivnDc6r5QoEEZcGLMGGgFllVEamKQS2MQUGgLVBrUVihVU1eNBasU1ZhGpWRs-U52ssx9C_59wNiXsyY6bFvo0A-xtERbaYWQSR7_KVmiQhj2PzSaUvYFD3_BqR9Cl8YtjRFcKyppQqdL5IKPMWBdvoVmBmFeUlIuNlYaXS43luzRKhCig7YO0Lkm_nwQTCjLVXIHS9cg4vfzKuQT9OecGA</addsrcrecordid><sourcetype>Aggregation Database</sourcetype><iscdi>true</iscdi><recordtype>article</recordtype><pqid>884376151</pqid></control><display><type>article</type><title>Takagi-Sugeno fuzzy scheme for real-time trajectory tracking of an underactuated robot</title><source>IEEE Electronic Library (IEL)</source><creator>Begovich, O. ; Sanchez, E.N. ; Maldonado, M.</creator><creatorcontrib>Begovich, O. ; Sanchez, E.N. ; Maldonado, M.</creatorcontrib><description>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.</description><identifier>ISSN: 1063-6536</identifier><identifier>EISSN: 1558-0865</identifier><identifier>DOI: 10.1109/87.974334</identifier><identifier>CODEN: IETTE2</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>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</subject><ispartof>IEEE transactions on control systems technology, 2002-01, Vol.10 (1), p.14-20</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2002</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c397t-6a7a68ac4b22a76a92d05708e3588eae479a158e79466f1cdb42d617e10910b93</citedby><cites>FETCH-LOGICAL-c397t-6a7a68ac4b22a76a92d05708e3588eae479a158e79466f1cdb42d617e10910b93</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/974334$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,780,784,796,4024,27923,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/974334$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=14246936$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>Begovich, O.</creatorcontrib><creatorcontrib>Sanchez, E.N.</creatorcontrib><creatorcontrib>Maldonado, M.</creatorcontrib><title>Takagi-Sugeno fuzzy scheme for real-time trajectory tracking of an underactuated robot</title><title>IEEE transactions on control systems technology</title><addtitle>TCST</addtitle><description>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.</description><subject>Algorithms</subject><subject>Applied sciences</subject><subject>Computer science; control theory; systems</subject><subject>Control system synthesis</subject><subject>Control systems</subject><subject>Control theory. Systems</subject><subject>Exact sciences and technology</subject><subject>Fuzzy</subject><subject>Fuzzy control</subject><subject>Fuzzy logic</subject><subject>Fuzzy set theory</subject><subject>Fuzzy systems</subject><subject>Nonlinear control systems</subject><subject>Nonlinear dynamical systems</subject><subject>Nonlinear systems</subject><subject>Process control. Computer integrated manufacturing</subject><subject>Real time</subject><subject>Regulators</subject><subject>Robotics</subject><subject>Robots</subject><subject>Takagi-Sugeno model</subject><subject>Tracking</subject><subject>Trajectories</subject><subject>Trajectory</subject><issn>1063-6536</issn><issn>1558-0865</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2002</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNqF0TtLxEAQB_AgCj4LW6sgqFhE9_0oRXyBYOFpG-Y2kzNnLqu7SXF-eve8Q8FCq52d_e0fhsmyfUrOKCX23OgzqwXnYi3bolKaghgl11NNFC-U5Goz245xSggVkumt7HkErzBpisdhgp3P6-HjY55H94IzzGsf8oDQFn2Tbn2AKbreh_midK9NN8l9nUOXD12FqdMP0GOVBz_2_W62UUMbcW917mRP11ejy9vi_uHm7vLivnDc6r5QoEEZcGLMGGgFllVEamKQS2MQUGgLVBrUVihVU1eNBasU1ZhGpWRs-U52ssx9C_59wNiXsyY6bFvo0A-xtERbaYWQSR7_KVmiQhj2PzSaUvYFD3_BqR9Cl8YtjRFcKyppQqdL5IKPMWBdvoVmBmFeUlIuNlYaXS43luzRKhCig7YO0Lkm_nwQTCjLVXIHS9cg4vfzKuQT9OecGA</recordid><startdate>200201</startdate><enddate>200201</enddate><creator>Begovich, O.</creator><creator>Sanchez, E.N.</creator><creator>Maldonado, M.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>RIA</scope><scope>RIE</scope><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>L7M</scope><scope>7SC</scope><scope>JQ2</scope><scope>L~C</scope><scope>L~D</scope><scope>H8D</scope><scope>F28</scope></search><sort><creationdate>200201</creationdate><title>Takagi-Sugeno fuzzy scheme for real-time trajectory tracking of an underactuated robot</title><author>Begovich, O. ; Sanchez, E.N. ; Maldonado, M.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c397t-6a7a68ac4b22a76a92d05708e3588eae479a158e79466f1cdb42d617e10910b93</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2002</creationdate><topic>Algorithms</topic><topic>Applied sciences</topic><topic>Computer science; control theory; systems</topic><topic>Control system synthesis</topic><topic>Control systems</topic><topic>Control theory. Systems</topic><topic>Exact sciences and technology</topic><topic>Fuzzy</topic><topic>Fuzzy control</topic><topic>Fuzzy logic</topic><topic>Fuzzy set theory</topic><topic>Fuzzy systems</topic><topic>Nonlinear control systems</topic><topic>Nonlinear dynamical systems</topic><topic>Nonlinear systems</topic><topic>Process control. Computer integrated manufacturing</topic><topic>Real time</topic><topic>Regulators</topic><topic>Robotics</topic><topic>Robots</topic><topic>Takagi-Sugeno model</topic><topic>Tracking</topic><topic>Trajectories</topic><topic>Trajectory</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Begovich, O.</creatorcontrib><creatorcontrib>Sanchez, E.N.</creatorcontrib><creatorcontrib>Maldonado, M.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts</collection><collection>ProQuest Computer Science Collection</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Aerospace Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><jtitle>IEEE transactions on control systems technology</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Begovich, O.</au><au>Sanchez, E.N.</au><au>Maldonado, M.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Takagi-Sugeno fuzzy scheme for real-time trajectory tracking of an underactuated robot</atitle><jtitle>IEEE transactions on control systems technology</jtitle><stitle>TCST</stitle><date>2002-01</date><risdate>2002</risdate><volume>10</volume><issue>1</issue><spage>14</spage><epage>20</epage><pages>14-20</pages><issn>1063-6536</issn><eissn>1558-0865</eissn><coden>IETTE2</coden><abstract>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.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/87.974334</doi><tpages>7</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1063-6536 |
| ispartof | IEEE transactions on control systems technology, 2002-01, Vol.10 (1), p.14-20 |
| issn | 1063-6536 1558-0865 |
| language | eng |
| recordid | cdi_crossref_primary_10_1109_87_974334 |
| source | IEEE Electronic Library (IEL) |
| subjects | 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 |
| title | Takagi-Sugeno fuzzy scheme for real-time trajectory tracking of an underactuated robot |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-06T09%3A30%3A31IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-proquest_RIE&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.genre=article&rft.atitle=Takagi-Sugeno%20fuzzy%20scheme%20for%20real-time%20trajectory%20tracking%20of%20an%20underactuated%20robot&rft.jtitle=IEEE%20transactions%20on%20control%20systems%20technology&rft.au=Begovich,%20O.&rft.date=2002-01&rft.volume=10&rft.issue=1&rft.spage=14&rft.epage=20&rft.pages=14-20&rft.issn=1063-6536&rft.eissn=1558-0865&rft.coden=IETTE2&rft_id=info:doi/10.1109/87.974334&rft_dat=%3Cproquest_RIE%3E2430104111%3C/proquest_RIE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_pqid=884376151&rft_id=info:pmid/&rft_ieee_id=974334&rfr_iscdi=true |