Motion control of planar parallel robot using the fuzzy descriptor system approach.

@article{Vermeiren2012MotionCO,
  title={Motion control of planar parallel robot using the fuzzy descriptor system approach.},
  author={Laurent Vermeiren and Antoine Dequidt and Mohamed Afroun and Thierry-Marie Guerra},
  journal={ISA transactions},
  year={2012},
  volume={51 5},
  pages={
          596-608
        }
}
This work presents the control of a two-degree of freedom parallel robot manipulator. A quasi-LPV approach, through the so-called TS fuzzy model and LMI constraints problems is used. Moreover, in this context a way to derive interesting control laws is to keep the descriptor form of the mechanical system. Therefore, new LMI problems have to be defined that helps to reduce the conservatism of the usual results. Some relaxations are also proposed to leave the pure quadratic stability… CONTINUE READING
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