Takagi-Sugeno fuzzy scheme for real-time trajectory tracking of an underactuated robot

被引：58

作者：

Begovich, O ^{[1
]}

Sanchez, EN ^{[1
]}

Maldonado, M ^{[1
]}

机构：

[1] CINVESTAV, Unidad Guadalajara, Guadalajara 45091, Jalisco, Mexico

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2002年 / 10卷 / 01期

关键词：

fuzzy control; linear regulator theory; nonlinear system; Takagi-Sugeno (T-S) approach; trajectory tracking;

D O I：

10.1109/87.974334

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This contribution presents an approach to achieve trajectory tracking for nonlinear systems. Combining linear regulator theory with the Takagi-Sugeno (T-S) fuzzy methodology; an algorithm is described for this tracking. The main contribution of the paper consists in the real-time application of this algorithm to a specific underactuated robot: the Pendubot.

引用

页码：14 / 20

页数：7

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