Control of 2-DOF Robot Manipulator Using T-S Fuzzy Approach

Authors

  • Mai Đình Hoàng Trường Điện - Điện Tử, Trường đại học Bách Khoa Hà Nội
  • Phạm Duy Thi Trường Điện - Điện Tử, Trường đại học Bách Khoa Hà Nội
  • Nguyễn Danh Huy Trường Điện - Điện Tử, Trường đại học Bách Khoa Hà Nội
  • Nguyễn Tùng Lâm Trường Điện - Điện Tử, Trường đại học Bách Khoa Hà Nội
  • Van Anh Nguyen Thi Hanoi University of Science and Technology

Keywords:

Takagi-Sugeno, Linear Matrix Inequality, Fuzzy Logic Control, Lyapunov, Parallel Distributed Compensation, Trajectory Tracking

Abstract

 In recent years, the application of robots in the production process is very popular. This increases productivity for production systems.
But stable control of the robot system is quite difficult due to the non-linearity of the robot model. In this paper, we propose to use the
Takagi-Sugeno fuzzy controller to control the robot with 2-DoF, which helps to reduce the complexity of the system model and at the same time
ensures the stability of the robot system even when has the effect of disturbance components and improves the trajectory tracking performance.
The control algorithm is proven stable by the Lyapunov stability theory combined with the LMI linear matrix inequality. The control rule
Parallel Distributed Compensation (PDC) is built by assembling the sub-control rules corresponding to the submodels of the Takagi-Sugeno
fuzzy model. The simulation results demonstrate the effectiveness of the proposed control method when comparing with the conventional PID
controller.

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Published

2022-06-06

How to Cite

Mai Đình Hoàng, Phạm Duy Thi, Nguyễn Danh Huy, Nguyễn Tùng Lâm, & Nguyen Thi, V. A. (2022). Control of 2-DOF Robot Manipulator Using T-S Fuzzy Approach. Measurement, Control, and Automation, 3(1), 65-72. Retrieved from https://mca-journal.org/index.php/mca/article/view/90

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