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Modelling and simulation of two-link robot manipulators based on Takagi Sugeno fuzzy descriptor systems

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2 Author(s)
Horst Schulte ; Bosch Rexroth Company, Mobile Hydraulics, Glockeraustr. 4, D-89275 Elchingen, Germany, ; Kevin Guelton

This paper presents the first steps towards a robust model-based controller design for two-link manipulators using a Takagi Sugeno fuzzy descriptor form. Due to the circumstances that this form is more similar to a given original nonlinear equation as a Takagi Sugeno fuzzy state-space system, it allows to reduce the conservatism of the controller design by using common matrix structures. The model-based control law here is equivalent to the well-known parallel distributed compensation scheme. The challenge of the investigated modelling and control problem in this case is the highly nonlinear dynamics of the dual-actuator drive powered by air-pressure that interacts with the dynamics of the robot manipulator.

Published in:

Industrial Technology, 2006. ICIT 2006. IEEE International Conference on

Date of Conference:

15-17 Dec. 2006