T–S fuzzy model-based tracking control of a one-dimensional manipulator actuated by pneumatic artificial muscles

Abstract

Pneumatic artificial muscle (PAM) has highly nonlinear and time-varying behavior due to gas compression and nonlinear elasticity of the bladder containers. Hence, it is difficult to achieve excellent tracking performance when using classical control methods. This study proposes a Takagi–Sugeno (T–S) fuzzy model-based control for improving control performance. The proposed approach decomposes the model of a nonlinear system into a set of linear subsystems. This allows, the T–S fuzzy model-based controller to use simple linear control techniques providing a systematic framework for the design of a state feedback controller. Stability analysis is carried out using Lyapunov direct method. The powerful LMI Toolbox in MATLAB is employed to solve linear matrix inequalities (LMIs) to obtain the controller gains. Experimental results verified that the proposed controller can achieve excellent tracking performance under different disturbances.