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Real-time takagi–sugeno fuzzy control of a robot manipulator

✍ Scribed by Ramon Garcia-Hernandez; Jose A. Ruz-Hernandez; Edgar N. Sanchez; Victor Santibañez; Miguel A. Llama

Publisher: John Wiley and Sons
Year: 2009
Tongue: English
Weight: 294 KB
Volume: 24
Category: Article
ISSN: 0884-8173
DOI: 10.1002/int.20380

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✦ Synopsis

This paper presents the development of a control algorithm, which combines the linear regulator theory and Takagi-Sugeno (T-S) fuzzy modeling. Each local controller consists in a feedback control term plus a trajectory tracking term. The global controller is determined by means of T-S methodology. Then, the proposed algorithm is applied in real time on a robot manipulator.