<abstract xmlns="http://www.w3.org/1999/xhtml">

This paper focuses on trajectory tracking control for robot manipulators. While much research has been done on this issue, many other aspects of this field have not been fully addressed. Here, we present a new solution using feedforward controller to eliminate parametric uncertainties and unknown disturbances. The Takagi-Sugeno fuzzy descriptor system (TSFDS) is chosen to describe the dynamic characteristics of the robot. The combination of this fuzzy system and the robust <italic>H</italic>∞ performance makes the system almost isolated from external factors. The linear matrix inequalities based on the theory of Lyapunov stability is considered for control design. The proposed method has proven its effectiveness through simulation results.
</abstract>

This paper focuses on trajectory tracking control for robot manipulators. While much research has been done on this issue, many other aspects of this field have not been fully addressed. Here, we present a new solution using feedforward controller to eliminate parametric uncertainties and unknown disturbances. The Takagi-Sugeno fuzzy descriptor system (TSFDS) is chosen to describe the dynamic characteristics of the robot. The combination of this fuzzy system and the robust H∞ performance makes the system almost isolated from external factors. The linear matrix inequalities based on the theory of Lyapunov stability is considered for control design. The proposed method has proven its effectiveness through simulation results.

Robust <italic>H</italic>∞ Fuzzy Approach Design Via Takagi-Sugeno Descriptor Model. Application for 2-DOF Serial Manipulator Tracking Control

Hanoi University of Science and Technology

Journal of Automation, Mobile Robotics and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Robust  Fuzzy Approach Design Via Takagi-Sugeno Descriptor Model. Application for 2-DOF Serial Manipulator Tracking Control

This paper focuses on trajectory tracking control for robot manipulators. While much research has been done on this issue, many other aspects of this field...

Robust H_∞ Fuzzy Approach Design Via Takagi-Sugeno Descriptor Model. Application for 2-DOF Serial Manipulator Tracking Control

Publié en ligne: 06 sept. 2023

Pages: 22 - 29

Reçu: 12 mai 2022

Accepté: 20 juin 2022

DOI: https://doi.org/10.14313/jamris/3-2022/21

Mots clés
Tracking control, serial manipulator robot, fuzzy control, Takagi-Sugeno, Lyapunov stability

© 2022 Van Anh Nguyen Thi et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Robust H∞ Fuzzy Approach Design Via Takagi-Sugeno Descriptor Model. Application for 2-DOF Serial Manipulator Tracking Control

Publié en ligne: 06 sept. 2023

Pages: 22 - 29

Reçu: 12 mai 2022

Accepté: 20 juin 2022

DOI: https://doi.org/10.14313/jamris/3-2022/21

Mots clésTracking control, serial manipulator robot, fuzzy control, Takagi-Sugeno, Lyapunov stability

© 2022 Van Anh Nguyen Thi et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Robust H_∞ Fuzzy Approach Design Via Takagi-Sugeno Descriptor Model. Application for 2-DOF Serial Manipulator Tracking Control

Mots clés
Tracking control, serial manipulator robot, fuzzy control, Takagi-Sugeno, Lyapunov stability