Intelligent Fuzzy Control for Nonlinear Two-Link Robot System with Input Energy Constrained Disturbance Rejection and Pole Placement

摘要

An intelligent fuzzy control of a nonlinear two-link robot system is investigated with assigning all poles into a specified disk, while the disturbance rejection can be realized and the norms of control input are bounded. The considered nonlinear two-link robot system is represented by a Takagi-Sugeno fuzzy model. The sufficient conditions of stabilization and performance constraints are first derived in terms of linear matrix inequalities based on the Lyapunov theory. Then, an intelligent fuzzy controller based on parallel distributed compensation technique is designed via solving the corresponding sufficient conditions. Employing this intelligent fuzzy controller, the closed-loop system can achieve multiple performance constraints including pole placement, disturbance rejection and bounded input energy. Finally, a computer simulation is provided to verify the applicability of the proposed method for controlling a nonlinear two-link robot system.