Robust H_∞ 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 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.