Title :
Takagi-Sugeno fuzzy scheme for real-time trajectory tracking of an underactuated robot
Author :
Begovich, Ofelia ; Sanchez, Edgar N. ; Maldonado, Marcos
Author_Institution :
CINVESTAV, Unidad Guadalajara, Jalisco, Mexico
fDate :
1/1/2002 12:00:00 AM
Abstract :
This paper presents an approach to achieve trajectory tracking for nonlinear systems. Combining the linear regulator theory with Takagi-Sugeno (T-S) fuzzy methodology; an algorithm is described for the trajectory tracking. The main contribution of the paper includes a real-time application of this algorithm to a specific two-rigid-link underactuated robot, called the Pendubot
Keywords :
fuzzy control; nonlinear systems; position control; real-time systems; robot dynamics; tracking; Pendubot; Takagi-Sugeno model; fuzzy control; nonlinear systems; position control; real-time systems; robot dynamics; trajectory tracking; underactuated robot; Control systems; Fuzzy control; Fuzzy systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Regulators; Robots; Takagi-Sugeno model; Trajectory;
Journal_Title :
Control Systems Technology, IEEE Transactions on
