Abstract
Achieving excellent tracking performance for a 2-DOF rehabilitation robot actuated by pneumatic artificial muscles (PAMs) is very difficult, due to the high nonlinearity and time-varying behavior associated with gas compression and the nonlinear elasticity of bladder containers. This paper proposes a Takagi-Sugeno (T-S) fuzzy model control to improve control performance and establish a 2nd order system model using a recursive least square method. The proposed approach decomposes the model of a nonlinear system into a set of linear subsystems. In this manner, the design of the controller in the T-S fuzzy model is capable of using simple linear control techniques to provide a systematic framework with which to design a state feedback controller. The analysis of stability is performed by using the Lyapunov direct method. We employed the powerful LMI Toolbox of MATLAB to solve linear matrix inequalities (LMIs) to determine controller gains. Experimental results verify that the proposed controller can achieve excellent tracking performance.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
