TS-model-based fuzzy tracking control for a single-link flexible manipulator

In this paper the tracking control for a single-link flexible manipulator is considered. First, the Takagi-Sugeno fuzzy model of the system is derived. Then a control algorithm for output tracking is adopted and modified to be more computationally and practically efficient based on the Lyapunov analysis reasoning. Finally, the results are compared with that of a joint PD controller.