A Disturbance Rejection Fuzzy Robust Parallel Distributed Compensator Design for Underactuated Robot System

被引：0
|
作者：
Rajabpour, Leila [1 ]
Barzegar, Alireza [1 ]
Su, Rong [1 ]
机构：
[1] Nanayang Technol Univ, Sch Elect & Elect Engn, Singapore, Singapore
来源：
2016 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV) | 2016年
关键词：
T-S fuzzy model; linear matrix inequality (LMI); underactuated robot; parallel distributed compensation; robust controller;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we present a robust controller based on Takagi-Sugeno (T-S) fuzzy model. First, we obtain the nonlinear state equation of the underactuated robot systems by linearization, then, the parallel distributed compensation scheme (PDC) is applied to design the controller. Simulation results show the robustness of the pendubot control system against the disturbance.
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页数：6
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