Design of a state-feedback Takagi-Sugueno fuzzy controller for a two degree of freedom robotic system
controller tuning, optimization methods, Takagi-Sugeno fuzzy controller, state feedback control
This paper presents the proposal of a master qualification exam theme for a two de- gree of freedom robotic system composed of two SRV02 servos and four metal bars of the quanser company, in view of which PID family control comes from factory in this The system proposes a state feedback control strategy and uses this type of fuzzy logic control strategy to obtain a better control of the system trajectory. In this way two types of controllers will be made: a state feedback controller by obtaining the linear system model and a state feedback Takagi-Sugeno fuzzy controller for the system without linea- rization, given the capacity of the fuzzy controllers. in dealing with nonlinearities present in real plants and for being able to represent the expert’s knowledge, which is inaccu- rate and mathematically inaccurate. The tuning of all controllers will be based on the GI, ISE, ITEA and IEA performance indices that will be used by the AG, ACO and PSO optimization methods.