Takagi-Sugeno fuzzy descriptor approach for trajectory control of a 2-DOF serial manipulator

This paper presents a Takagi-Sugeno fuzzy descriptor approach for nonlinear control of a 2-DoF serial manipulator. The design goal is to achieve high tracking performance in case of circular trajectory while significantly reducing the numerical complexity of the designed controller through an original robust control scheme. Based on Lyapunov stability theory, the control design is reformulated as an LMI (linear matrix inequality) optimization which can be easily solved with available solvers. Simulation results carried out with SimMechanics environment clearly demonstrate the effectiveness of the proposed control approach.