• DocumentCode
    1556540
  • 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
  • Volume
    10
  • Issue
    1
  • fYear
    2002
  • fDate
    1/1/2002 12:00:00 AM
  • Firstpage
    14
  • Lastpage
    20
  • 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;
  • fLanguage
    English
  • Journal_Title
    Control Systems Technology, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1063-6536
  • Type

    jour

  • DOI
    10.1109/87.974334
  • Filename
    974334
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1556540