Improving time-delay control for robot manipulators using TSK fuzzy logic control systems

We propose an enhanced time-delay controller (TDC) for robot manipulators using Takagi-Sugeno-Kang (TSK) fuzzy control systems. The proposed controller has three terms: a time-delay estimation (TDE) term to estimate and cancel continuous nonlinearities of robot dynamics, a desired dynamics injection term, and a TSK fuzzy inference system to correct the effect of the TDE error. The TSK-type fuzzy inference system is constructed by using integral sliding surface to achieve the desired error dynamics. The proposed controller is easy to implement because calculations of the robot dynamics are not required, and the design of the fuzzy rules is also intuitive. The proposed controller has shown enhanced tracking performances compared with the conventional TDC in the experiment.