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
收藏
页码：14 / 20
页数：7
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