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Takagi-Sugeno fuzzy scheme for real-time trajectory tracking of an underactuated robot

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3 Author(s)
Begovich, O. ; CINVESTAV, Unidad Guadalajara, Jalisco, Mexico ; Sanchez, Edgar N. ; Maldonado, M.

This paper presents an approach to achieve trajectory tracking for nonlinear systems. Combining the linear regulator theory with Takagi-Sugeno (T-S) fuzzy methodology; an algorithm is described for the trajectory tracking. The main contribution of the paper includes a real-time application of this algorithm to a specific two-rigid-link underactuated robot, called the Pendubot

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:10 ,  Issue: 1 )

Date of Publication:

Jan 2002

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