A fuzzy-PDC-based control for robotic systems

Abstract A multi-input multi-output nonlinear-regulator design methodology, developed by the fuzzy-parallel-distributed-compensation (fuzzy-PDC) scheme, has been presented here. This conceptually simple and natural methodology not only can improve the system performance, but also can avoid the convergence problem as well as the troublesome fuzzy membership functions involved in the trial-and-error methods. In this paper, the nonlinear-regulator developed here is further expanded and combined with the PD control approach, in order to investigate the position and tracking control of a two-link robot. The results demonstrate that not only the system performances are considerably improved, but the system also exhibits desired stability and robustness.