Fuzzy Controller for Robot Manipulators

摘要

This paper deals with the design of a fuzzy (FC) based on pole assignment method for the control of a robotic system. The main idea is to design a supervisory fuzzy controller capable to adjust the controller parameters in order to obtain the desired axes positions under variationes of the robot parameters and payload variations. The behaviour of the closed loop fuzzy system controlled by the fuzzy controller is identical to the linear system whose state transition matrix is the desired one.The main objective of this paper is the use of the affine Takagi-Sugeno (T-S) fuzzy model to represent both the controlled system and the fuzzy controller taking into consideration the effect of the constant term [1]. Most of the research works analyzed the T-S model assuming that the non-linear system is linearized with respect to the origin in each IF-THEN rule, which means that the consequent part of each rule is a linear function with zero constant term. This will in turn reduce the accuracy of approximating non-linear systems.