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

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 theTakagi-Sugeno fuzzy controller to control the robot with 2-DoF, which helps to reduce the complexity of the system model and at the same timeensures 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 ruleParallel Distributed Compensation (PDC) is built by assembling the sub-control rules corresponding to the submodels of the Takagi-Sugenofuzzy model. The simulation results demonstrate the effectiveness of the proposed control method when comparing with the conventional PIDcontroller.