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Takagi–Sugeno Fuzzy Modeling and Control for Effective robotic manipulator Motion

Computers, Materials & Continua 2022年第4期71卷 1011-1024页

作者： Izzat Al-Darraji Ayad AKakei Ayad Ghany Ismaeel Georgios Tsaramirsis Fazal Qudus Khan Princy Randhawa Muath Alrammal Sadeeq Jan Department of Automated Manufacturing University of BaghdadBaghdad10001Iraq Department of Mechanical Engineering University of KirkukKirkuk36001Iraq Department of Computer Technical Engineering Al-kitab UniversityKirkuk36001Iraq Higher Colleges of Technology Abu Dhabi Women’s CollegeAbu Dhabi41012UAE Department of Computer Science University of SwatShangla CampusAlpurai19100ShanglaPakistan Department of Mechatronics Engineering Manipal University JaipurJaipur302004India Department of Computer Science&IT University of Engineering&Technology PeshawarPeshawar25000Pakistan

robotic manipulators are widely used in applications that require fast and precise *** devices,however,are prompt to nonlinear control issues due to the flexibility in joints and the friction in the motors within the dynamics of their rigid *** address these issues,the Linear Matrix Inequalities(LMIs)and Parallel Distributed Compensation(PDC)approaches are implemented in the Takagy–Sugeno Fuzzy Model(T-SFM).We propose the following methodology;initially,the state space equations of the nonlinear manipulator model are ***,a Takagy–Sugeno Fuzzy Model(T-SFM)technique is used for linearizing the state space equations of the nonlinear *** T-SFM controller is developed using the Parallel Distributed Compensation(PDC)*** prime concept of the designed controller is to compensate for all the fuzzy ***,the Linear Matrix Inequalities(LMIs)are applied to generate adequate cases to ensure stability and *** programming methods are applied to solve the developed LMIs *** developed for the proposed model show that the proposed controller stabilized the system with zero tracking error in less than 1.5 s.

关键词： nonlinear robot manipulator precise fast robot motion flexible joints motor friction Takagy-Sugeno fuzzy control modeling nonlinear flexible robot system

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