Networked control for robotic manipulators via T-S fuzzy control and descriptor representation

This paper presents a novel networked control scheme for robotic manipulators by combing T-S fuzzy control with descriptor representation. The dynamic characteristic of nonlinear control system for robotic manipulator is built by T-S fuzzy model. In specific, both time-delay induced by network and packet loss are considered. A delay-dependent criterion for determining the stability of networked control system is obtained with the aid of linear matrix inequality (LMI) approach. A fuzzy controller is then designed by parallel distributed compensation principle. An augmented system is also introduced such that the tracking error is minimized. Finally, the proposed control algorithm is applied in a networked single-link robotic manipulator control system, and the result of simulation shows its effectiveness.