Title :
T-S scheme for trajectory tracking of an underactuated robot
Author :
Begovich, Ofelia ; Sanchez, Edgar N. ; Maldonado, Marcos
Author_Institution :
CINVESTAV-IPN, Mexico City, Mexico
Abstract :
This paper presents a novel approach to achieve trajectory tracking for nonlinear systems. Combining linear regulator theory with the Takagi-Sugeno (TS) fuzzy methodology a new algorithm is proposed, which is able to handle complex nonlinear systems such as under-actuated mechanisms. The paper includes a description of the algorithm as well as real time results for the application to an specific under-actuated robot-the Pendubot
Keywords :
fuzzy control; large-scale systems; nonlinear systems; robot dynamics; tracking; Pendubot; Takagi-Sugeno model; complex systems; fuzzy control; linear regulator theory; nonlinear systems; trajectory tracking; underactuated robot; Control systems; Fuzzy control; Fuzzy systems; Nonlinear systems; Regulators; Robots; Stability; System testing; Takagi-Sugeno model; Trajectory;
Conference_Titel :
Fuzzy Systems, 2000. FUZZ IEEE 2000. The Ninth IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-5877-5
DOI :
10.1109/FUZZY.2000.839134
