Control of uncertain flexible joint manipulator using adaptive Takagi-Sugeno fuzzy model based controller

In this paper, in order to control an uncertain flexible joint manipulator, adaptive fuzzy control (AFC) scheme via parallel distributed compensation is developed for the multi-input/multi-output plant model represented by the Takagi-Sugeno model. The alternative AFC scheme is proposed to provide asymptotic tracking of a reference signal for the systems with uncertain or slowly time-varying parameters. The developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal. The suggested design technique is applied to tracking control of a flexible-link robot manipulator.