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

Thi van Anh Nguyen (1) , Tran Anh-Tu Nguyen (1, 2) , Antoine Dequidt (1, 2) , Laurent Vermeiren (1) , Michel Dambrine (1)

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
2 INSA Hauts-De-France - INSA Institut National des Sciences Appliquées Hauts-de-France

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

Mots clés: "Fuzzy control"; "Descriptor fuzzy systems"; "Serial robots"; "Robot manipulators"; "Tracking control"; "Linear matrix inequality (LMI)"

Domaines: Automatique / Robotique

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, 2019, 21 (4), pp.1038-1050. ⟨10.1007/s40815-019-00613-1⟩. ⟨hal-03426398⟩