Output Tracking Control of Takagi-Sugeno Fuzzy Systems with Application to an Underactuated Robots
نویسندگان
چکیده
Recently, the Takagi-Sugeno fuzzy controllers [3] have been applied to nonlinear systems (see, for example, [3] and [4]). In these studies, a nonlinear plant was represented by a set of linear models interpolated by membership functions and then a model-based fuzzy controller was developed. This technique seems particularly suitable for the control of complex nonlinear systems since the dynamics of a nonlinear system can be easily obtained by linearization of nonlinear models near different operation points or by input /output identification around these points. In [4], tracking control is achieved by minimizing the error between the nonlinear system and a nonlinear reference model, both of them are modeled by T-S methodology. In the work [5], a fuzzy control scheme combining linear regulatory theory [6] [7] with the Takagi-Sugeno fuzzy control methodology, is proposed, which allows the external perturbation rejection.
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Optimal Fuzzy Control of Nonlinear Systems with Application to an Underactuated Robot
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