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