Real‐time takagi–sugeno fuzzy control of a robot manipulator | Zendy

GarciaHernandez Ramon | Zendy; RuzHernandez Jose A. | Zendy; Sanchez Edgar N. | Zendy; Santibañez Victor | Zendy; Llama Miguel A. | Zendy

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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

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.

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