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SOS-based design of fuzzy tracking controller for a two-link robot arm

This paper proposes the fuzzy controller design for tracking control of a two-link robot arm by using a sum of squares (SOS) approach. The state space model of tracking control can be represented by T-S fuzzy model and the tracking problem can be treated as a disturbance rejection problem. After using the Lyapunov approach, the stability condition is derived and represented in terms of SOS. Furthermore, the fuzzy controller gains are obtained by solving the stability condition via SOSTOOLS. Finally, the computer simulations show the performance of the SOS-based fuzzy tracking controller.