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Real-time Takagi-Sugeno fuzzy control of a robot manipulator. (English) Zbl 1180.93057

Summary: This paper presents the development of a control algorithm, which combines the linear regulator theory and Takagi-Sugeno (T-S) fuzzy modeling. Each local controller consists in a feedback control term plus a trajectory tracking term. The global controller is determined by means of T-S methodology. Then, the proposed algorithm is applied in real time on a robot manipulator.

MSC:

93C42 Fuzzy control/observation systems
93C85 Automated systems (robots, etc.) in control theory
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