A Non-Quadratic Fuzzy Stabilization and Tracking Approach to a Two-Link Robot Manipulator control

  • Authors:

  • Ibtissem Abdelmalek;Noureddine Golea

  • Affiliations:

  • Batna University, Algeria;Oum El Bouaghi University, Algeria

  • Venue:
  • ISDA '06 Proceedings of the Sixth International Conference on Intelligent Systems Design and Applications - Volume 03
  • Year:
  • 2006

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Abstract

In this paper, a new non-quadratic stabilization approach is used to stabilize a two-link robot manipulator. We use a non-quadratic Lyapunov function as a fuzzy blending of multiple quadratic Lyapunov functions. The quadratic Lyapunov functions share the same membership functions with the T-S fuzzy model. The proposed approach is based on two assumptions. The first one assumes a proportionaty between multiple Lyapunov functions and the second one assumes upper bounds for the time derivative of the premise membership functions. Furthermore a fuzzy model reference tracking control scheme is proposed based on the T-S fuzzy model where external disturbances are taken into account. To illustrate the effectiveness of our proposal, the two-link robot model is used for different simulations.