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Takagi Sugeno Fuzzy Controller for Uncertain Single Link Manipulator

Authors:
Umar Farooq
Jason Gu
Mohamed E El-Hawary
Jun Luo
Mhammad Usman Asad

Keywords: Uncertain single link manipulator; TS fuzzy model; Parallel distributed compensation; Linear matrix inequalities; Francis-Isidori-Byrnes nonlinear regulation theory; MATLAB/Simulink.

Abstract:
This paper presents the design of a fuzzy tracking controller for uncertain Single Link Manipulator (SLM) moving in the vertical plane. A Takagi-Sugeno (TS) fuzzy model of the uncertain nonlinear plant is constructed using sector nonlinearity approach and a set of operations point technique. The controller design for TS fuzzy plant is then carried out using Francis-Isidori-Byrnes (FIB) nonlinear regulation theory and parallel distributed compensation (PDC) technique. MATLAB simulations are performed to validate the designed controller for tracking constant and sinusoidal reference signals.

Pages: 88 to 95

Copyright: Copyright (c) IARIA, 2015

Publication date: July 19, 2015

Published in: conference

ISSN: 2308-4499

ISBN: 978-1-61208-419-0

Location: Nice,France

Dates: from July 19, 2015 to July 24, 2015