T-S Singular Fuzzy Control for Mobile Manipulator

Based on kinetic analyses, a unified method for mobile manipulator to establish an integrated kinetic model is proposed, Aiming at its nonholonomic constraint and nonlinearity, this model is transformed into T-S singular fuzzy model, After that, we design a state feedback controller based on LMI and...

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Hauptverfasser:	Jiang Wenping, Fan Jianwen
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Analytical models integrated kinetic model Joints Kinetic theory LMI Manipulator dynamics Mobile communication mobile manipulator State feedback state feedback control Takagi-sugeno Singular Fuzzy model
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Beschreibung
Zusammenfassung:	Based on kinetic analyses, a unified method for mobile manipulator to establish an integrated kinetic model is proposed, Aiming at its nonholonomic constraint and nonlinearity, this model is transformed into T-S singular fuzzy model, After that, we design a state feedback controller based on LMI and proved the stability of the system, The efficiency of the method receives supports from the simulation results.
ISSN:	2157-1473
DOI:	10.1109/ICMTMA.2011.835