D-stability-based takagi-sugeno fuzzy tracking of a 2-DoF planar serial manipulator

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper deals with the problem of Multi-Input and Multi-Output Takagi-Sugeno fuzzy tracking of a Two Degrees of Freedom planar serial manipulator. The proposed approach is propped up on the concept of D-stability in a LMI subregion. Specific stability conditions are derived for a discrete-time Takagi-Sugeno system and extended to closed loop systems, where control actions is obtained within a Parallel Distributed Compensation framework. Simulation results show the effectiveness of proposed methodology in the case of tracking a circular trajectory.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages833-838
Number of pages6
ISBN (Electronic)9781728124933
DOIs
Publication statusPublished - 1 Jul 2019
Event2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 - Hong Kong, China
Duration: 8 Jul 201912 Jul 2019

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
PublisherInstitute of Electrical and Electronics Engineers Inc.
Volume2019-July

Conference

Conference2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
CountryChina
CityHong Kong
Period8/07/1912/07/19

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  • Cite this

    Gil, P., Carvalho, C., Januário, F., Cardoso, A., & Palma, L. (2019). D-stability-based takagi-sugeno fuzzy tracking of a 2-DoF planar serial manipulator. In Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 (pp. 833-838). [8868560] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2019-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2019.8868560