Robust H∞ fuzzy approach design via Takagi‐Sugeno descriptor model. application for 2‐DOF serial manipulator tracking control

• Autorzy: Thi Van Anh Nguyen , Pham Duc Binh , Nguyen Danh Huy , Nguyen Tung Lam

Identyfikatory

DOI

10.14313/JAMRIS/3‐2022/21

• Języki publikacji: EN

Abstrakty

EN

This paper focuses on trajectory tracking control for ro‐ bot manipulators. While much research has been done on this issue, many other aspects of this field have not been fully addressed. Here, we present a new solution using feedforward controller to eliminate parametric uncer‐ tainties and unknown disturbances. The Takagi‐Sugeno fuzzy descriptor system (TSFDS) is chosen to describe the dynamic characteristics of the robot. The combination of this fuzzy system and the robust H∞ performance makes the system almost isolated from external factors. The li‐ near matrix inequalities based on the theory of Lyapunov stability is considered for control design. The proposed method has proven its effectiveness through simulation results.

Słowa kluczowe

EN

tracking control; serial manipulator robot; fuzzy control; Takagi-Sugeno; Lyapunov stability

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2022
• Tom: Vol. 16, No. 3
• Strony: 22--29
• Opis fizyczny: Bibliogr. 30 poz., rys.

Twórcy

autor

Thi Van Anh Nguyen

• Hanoi University of Science and Technology, Dai Co Viet, Ha Noi, Viet Nam

autor

Pham Duc Binh

• Hanoi University of Science and Technology, Dai Co Viet, Ha Noi, Viet Nam

autor

Nguyen Danh Huy

• Hanoi University of Science and Technology, Dai Co Viet, Ha Noi, Viet Nam

autor

Nguyen Tung Lam

• Hanoi University of Science and Technology, Dai Co Viet, Ha Noi, Viet Nam

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).