D-Stability-Based Takagi-Sugeno Fuzzy Tracking of a 2-DoF Planar Serial Manipulator

Authors

Abstract

This paper deals with the problem of Multi-Input and Multi-Output Takagi-Sugeno fuzzy tracking of a Two Degrees of Freedom planar serial manipulator. The proposed approach is propped up on the concept of D-stability in a LMI subregion. Specific stability conditions are derived for a discrete-time Takagi-Sugeno system and extended to closed loop systems, where control actions is obtained within a Parallel Distributed Compensation framework. Simulation results show the effectiveness of proposed methodology in the case of tracking a circular trajectory.

Keywords

2-DoF planar serial manipulator, Asymptotic stability, circular trajectory, closed loop systems, Closed loop systems, control system synthesis, D-stability-based Takagi-Sugeno fuzzy tracking, discrete time systems, discrete-time Takagi-Sugeno system, fuzzy control, linear matrix inequalities, LMI, manipulators, Manipulators, parallel distributed compensation framework, stability, Stability analysis, Symmetric matrices, Takagi-Sugeno model

Conference

2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2019

DOI