Real-time takagi-sugeno fuzzy control of a robot manipulator

Abstract

This paper presents the development of a control algorithm, which combines the linear regulator theory and Takagi–Sugeno (T–S) fuzzy modeling. Each local controller consists in a feedback control term plus a trajectory tracking term. The global controller is determined by means of T–S methodology. Then, the proposed algorithm is applied in real time on a robot manipulator. © 2009 Wiley Periodicals, Inc.