{'fraction_non_alphanumeric': 0.015815085158150853, 'fraction_numerical': 0.0, 'mean_word_length': 5.141791044776119, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Modelling and simulation of two-link robot manipulators based on Takagi Sugeno fuzzy descriptor systems

This paper presents the first steps towards a robust model-based controller design for two-link manipulators using a Takagi Sugeno fuzzy descriptor form. Due to the circumstances that this form is more similar to a given original nonlinear equation as a Takagi Sugeno fuzzy state-space system, it allows to reduce the conservatism of the controller design by using common matrix structures. The model-based control law here is equivalent to the well-known parallel distributed compensation scheme. The challenge of the investigated modelling and control problem in this case is the highly nonlinear dynamics of the dual-actuator drive powered by air-pressure that interacts with the dynamics of the robot manipulator.