D-Stability-Based Takagi-Sugeno Fuzzy Tracking of a 2-DoF Planar Serial Manipulator

This paper deals with the problem of Multi-Input and Multi-Output Takagi-Sugeno fuzzy tracking of a Two Degrees of Freedom planar serial manipulator. The proposed approach is propped up on the concept of D-stability in a LMI subregion. Specific stability conditions are derived for a discrete-time Takagi-Sugeno system and extended to closed loop systems, where control actions is obtained within a Parallel Distributed Compensation framework. Simulation results show the effectiveness of proposed methodology in the case of tracking a circular trajectory.