Login | Register

Trajectory tracking control of pendubot using the Takagi-Sugeno fuzzy sheme

Title:

Trajectory tracking control of pendubot using the Takagi-Sugeno fuzzy sheme

Cai, Zhen (2002) Trajectory tracking control of pendubot using the Takagi-Sugeno fuzzy sheme. Masters thesis, Concordia University.

[thumbnail of MQ68450.pdf]
Preview
Text (application/pdf)
MQ68450.pdf
2MB

Abstract

Pendubot is a planar two-link underactuated robotic mechanism and serves as a benchmark example to test developed control algorithms for underactuated mechanical systems. In this thesis we attempt to use the Takagi-Sugeno fuzzy model for the task of the trajectory tracking of the Pendubot. Two proposed control algorithms employ the fuzzy control that is designed by an aggregation of the fuzzy local controllers. For the first control algorithm, the local controller consists of an optimal output feedback plus a term for perturbation rejection, which is design based on the output optimal control and the linear regulatory theory. For the second control algorithm, the local controller is constructed with the state observer. The advantage for such designs is only simple fuzzy controllers are used in the approaches. The proposed two control laws ensure global stability of the closed-loop system and the first one also guarantees the optimal output trajectory tracking

Divisions:Concordia University > Gina Cody School of Engineering and Computer Science > Mechanical and Industrial Engineering
Item Type:Thesis (Masters)
Authors:Cai, Zhen
Pagination:x, 138 leaves : ill. ; 29 cm.
Institution:Concordia University
Degree Name:M.A. Sc.
Program:Mechanical and Industrial Engineering
Date:2002
Thesis Supervisor(s):Su, Chun-Yi
Identification Number:TJ 211.35 C35 2002
ID Code:1640
Deposited By: Concordia University Library
Deposited On:27 Aug 2009 17:21
Last Modified:13 Jul 2020 19:50
Related URLs:
All items in Spectrum are protected by copyright, with all rights reserved. The use of items is governed by Spectrum's terms of access.

Repository Staff Only: item control page

Downloads per month over past year

Research related to the current document (at the CORE website)
- Research related to the current document (at the CORE website)
Back to top Back to top