Abstract
This paper presents a model-based tracking controller design for two-link manipulators using a fuzzy state-feedback gain-scheduling approach. The control law is equivalent to the parallel distributed compensation (PDC) scheme. The challenge of the control problem is the highly nonlinear dynamics of the investigated dual actuators powered by air-pressure that affect the dynamics of the robot manipulator. For a class of serial manipulators, the SCARA-type robot manipulator, a nonlinear state-space model is formulated by the Newton-Euler equation of the manipulator arm coupled with a reduced model of the actuators. The state-space model is transformed into a Takagi-Sugeno fuzzy approximation using a linearization around a grid of equilibrium points. Based on this, a global tracking controller is designed as a fuzzy gain-scheduler of state-feedback gains. It is shown by simulation results that this controller is capable to handle the coupled nonlinearities among the actuators and the manipulator arm.
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