TY - JOUR AU - Mai Đình Hoàng, AU - Phạm Duy Thi, AU - Nguyễn Danh Huy, AU - Nguyễn Tùng Lâm, AU - Nguyen Thi, Van Anh PY - 2022/06/06 Y2 - 2024/03/28 TI - Control of 2-DOF Robot Manipulator Using T-S Fuzzy Approach JF - Measurement, Control, and Automation JA - MCA VL - 3 IS - 1 SE - DO - UR - https://mca-journal.org/index.php/mca/article/view/90 SP - 65-72 AB - <p> <span class="fontstyle0">In recent years, the application of robots in the production process is very popular. This increases productivity for production systems.<br />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<br />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<br />ensures the stability of the robot system even when has the effect of disturbance components and improves the trajectory tracking performance.<br />The control algorithm is proven stable by the Lyapunov stability theory combined with the LMI linear matrix inequality. The control rule<br />Parallel Distributed Compensation (PDC) is built by assembling the sub-control rules corresponding to the submodels of the Takagi-Sugeno<br />fuzzy model. The simulation results demonstrate the effectiveness of the proposed control method when comparing with the conventional PID<br />controller.</span> </p> ER -