Real-Time Takagi-Sugeno Fuzzy Control of a Robot Manipulator

被引：1
|
作者：
Garcia-Hernandez, Ramon [1 ]
Ruz-Hernandez, Jose A. [1 ]
Sanchez, Edgar N. [2 ]
Santibanez, Victor [3 ]
Llama, Miguel A. [3 ]
机构：
[1] Univ Autonoma Carmen, Cd Del Carmen 24180, Campeche, Mexico
[2] CINVESTAV, Unidad Guadalajara, Guadalajara 62490, Jalisco, Mexico
[3] Inst Tecnol Laguna, Torreon 27001, Coahuila, Mexico
来源：
INTERNATIONAL JOURNAL OF INTELLIGENT SYSTEMS | 2009年 / 24卷 / 11期
关键词：
TRACKING;
D O I：
10.1002/int.20380
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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. (C) 2009 Wiley Periodicals, Inc.
引用
收藏
页码：1174 / 1201
页数：28
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