T-S scheme for trajectory tracking of an underactuated robot

This paper presents a novel approach to achieve trajectory tracking for nonlinear systems. Combining linear regulator theory with the Takagi-Sugeno (TS) fuzzy methodology a new algorithm is proposed, which is able to handle complex nonlinear systems such as under-actuated mechanisms. The paper includes a description of the algorithm as well as real time results for the application to an specific under-actuated robot-the Pendubot.