T-S Fuzzy Tracking Control of a 2-DOF Rehabilitation Robot Using System Identification

Ming Kun Chang; Ming Lun Chen

doi:10.4028/www.scientific.net/AMM.284-287.1971

Paper Titles

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The Squeeze Film Damping Effect on Dynamic Responses of Micro-Electromechanical Resonators
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The Vibration Problem Studying in Micro Actuator System Using the Differential Transformation Method
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T-S Fuzzy Tracking Control of a 2-DOF Rehabilitation Robot Using System Identification
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 284-287T-S Fuzzy Tracking Control of a 2-DOF...

T-S Fuzzy Tracking Control of a 2-DOF Rehabilitation Robot Using System Identification

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.