Robust control of an underactuated robot via T-S fuzzy region model

Abstract

This paper proposed the design of an underactuated robot controller based on T-S fuzzy region model. In order to reduce the number of fuzzy rules and improve the performance of control system, we use the concept of fuzzy region to design the T-S fuzzy controller. First, we obtain the nonlinear state equations by the properties of the underactuated robot systems. Second, the T-S fuzzy model can be constructed by applying the process of the linearization. We apply the strategy of parallel distributed compensation (PDC) to design the controller. To guarantee the stability of the underactuated robot system, the linear matrix inequality (LMI) is derived using the Lyapunov stability theorem.