An integrated algorithm of fuzzy modeling and controller design for nonlinear systems

This paper presents an integrated algorithm of fuzzy modeling and controller design. An LMI condition to identify the parameters of a Takagi-Sugeno fuzzy model (T-S fuzzy model) is derived. More importantly, we achieve stable fuzzy control for the identified T-S fuzzy model. The fuzzy modeling and controller design are applied to vision tracking control using a two-link manipulator with a CCD camera. The experimental results show the utility of the proposed integrated algorithm of fuzzy modeling and controller design.