T-S Fuzzy Controller Applied to Lower Limb Rehabilitation Robot Actuated by Pneumatic Muscle Actuators
نویسندگان
چکیده
Since the 2-DOF rehabilitation robot actuated by pneumatic muscle actuators (PMAs) has highly nonlinear and time-varying behavior due to gas compression and nonlinear elasticity of bladder containers, it is difficult to achieve excellent control performance using classical control methods. Here, this study proposes a novel Takagi-Sugeno(T-S) fuzzy approach to improve tracking performance. The T-S fuzzy controller which combines the merits of (i) the capability for dealing with nonlinear systems, (ii) the powerful LMI approach to obtain control gains, (iii) the high performance of integral controllers,(iv) the workable rigorous proof for exponential convergence of error signals. Experimental results verified that the T-S fuzzy controller can achieve excellent tracking performance. Keywords—pneumatic muscle actuators, Takagi-Sugeno(T-S) fuzzy approach, LMI approach, rehabilitation robots.
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