Paper Info
Title
A Study Of T-S Model-Based Smc Scheme With Application To Robot Control
Abstract
In light of the remarkable benefits and numerous applications of the Takagi-Sugeno (T-S) fuzzy system modeling method and the sliding mode control (SMC) technique, this paper aims to study the design of robust controllers for a set of second-order systems using a combination of these two approaches. The combined scheme is shown to have the merits of both approaches. It alleviates not only the online computational burden by using the T-S fuzzy system model to approximate the original nonlinear one (since most of the system parameters of the T-S model can be computed offline) but also preserves the advantages of rapid response and robustness characteristic of the classic SMC schemes. Moreover, the combined scheme does not need to online compute any nonlinear term of the original dynamics, and the increase in the number of fuzzy rules does not create extra online computational burdens for the scheme. The proposed analytical results are also applied to the control of a two-link robot manipulator and compared with the results using classic SMC design. Simulation results demonstrate the benefits of the proposed scheme.
Year
DOI
Venue
2008
10.1109/TIE.2008.2005138
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Keywords
Field
DocType
Robot manipulators, robust control, sliding-mode control (SMC), Takagi-Sugeno (T-S) fuzzy system model
Robot control,Nonlinear system,Control theory,Fuzzy logic,Fuzzy set,Robustness (computer science),Control engineering,Fuzzy control system,Robust control,Mathematics,Sliding mode control
Journal
Volume
Issue
ISSN
55
11
0278-0046
Citations 
PageRank 
References 
22
1.41
27
Authors
4
Name
Order
Citations
PageRank
Yew-Wen Liang118715.62
Sheng-Dong Xu21488.79
Der-cherng Liaw314027.60
Cheng-Chang Chen4323.79