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Nonlinear Tracking Control with Reduced Complexity of Serial Robots: A Robust Fuzzy Descriptor Approach

Abstract : This paper presents a nonlinear tracking con-trol approach for a two degrees of freedom (2-DoF) se-rial manipulator. The design goal is to achieve a guar-anteed H∞tracking performance while keeping the de-signed controller as simple as possible for real-time im-plementation. To this end, the descriptor Takagi-Sugenofuzzy modeling is used to describe the nonlinear dynam-ics of the robot. Then, based on Lyapunov stability the-ory, we propose conditions to design fuzzy controllersfor trajectory tracking purposes. The control designprocedure is reformulated as an optimization problemunder linear matrix inequality constraints which can beeffectively solved with semidefinite programming tech-nique. Numerical experiments carried out with the Sim-scape MultibodyTM library of Matlab Rclearly demon-strate the effectiveness of the proposed approach interms of tracking control and numerical simplicity
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https://hal-uphf.archives-ouvertes.fr/hal-03426398
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Submitted on : Friday, November 12, 2021 - 11:18:31 AM
Last modification on : Saturday, November 13, 2021 - 3:53:18 AM

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Thi van Anh Nguyen, Tran Anh-Tu Nguyen, Antoine Dequidt, Laurent Vermeiren, Michel Dambrine. Nonlinear Tracking Control with Reduced Complexity of Serial Robots: A Robust Fuzzy Descriptor Approach. International Journal of Fuzzy Systems, Taiwan Fuzzy Systems Association, 2019, 21 (4), pp.1038-1050. ⟨10.1007/s40815-019-00613-1⟩. ⟨hal-03426398⟩

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