Title :
Real-time tracking control of underactuated pendubot using Takagi-Sugeno fuzzy systems
Author :
Cai, Zhen ; Su, Chun-Yi
Author_Institution :
Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, Que., Canada
Abstract :
By combining optimal control theory and linear regulator theory with the Takagi-Sugeno fuzzy methodology, a global optimal and stable fuzzy controller is presented to achieve trajectory tracking for a specific underactuated robot: the pendubot. The stability of the entire close-loop system is ensured by the designed optimal fuzzy controller. The paper includes a description of the pendubot system and the real-time control results.
Keywords :
closed loop systems; control system synthesis; fuzzy control; position control; real-time systems; robots; Takagi-Sugeno fuzzy systems; closed-loop system; global optimal controller; optimal fuzzy controller; real-time control; real-time tracking control; trajectory tracking; underactuated pendubot; Control systems; Fuzzy control; Fuzzy systems; Optimal control; Real time systems; Regulators; Robots; Stability; Takagi-Sugeno model; Trajectory;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on
Print_ISBN :
0-7803-7866-0
DOI :
10.1109/CIRA.2003.1222066
