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Real‐time takagi–sugeno fuzzy control of a robot manipulator
Author(s) -
GarciaHernandez Ramon,
RuzHernandez Jose A.,
Sanchez Edgar N.,
Santibañez Victor,
Llama Miguel A.
Publication year - 2009
Publication title -
international journal of intelligent systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.291
H-Index - 87
eISSN - 1098-111X
pISSN - 0884-8173
DOI - 10.1002/int.20380
Subject(s) - manipulator (device) , computer science , robot manipulator , control theory (sociology) , fuzzy control system , fuzzy logic , control (management) , robot , artificial intelligence , control engineering , engineering
Abstract This paper presents the development of a control algorithm, which combines the linear regulator theory and Takagi–Sugeno (T–S) fuzzy modeling. Each local controller consists in a feedback control term plus a trajectory tracking term. The global controller is determined by means of T–S methodology. Then, the proposed algorithm is applied in real time on a robot manipulator. © 2009 Wiley Periodicals, Inc.