Projeto de controladores fuzzy Takagi-Sugeno convencional e tipo 2 intervalar PDC com realimentação de estados para um sistema robótico serial com dois elos

Abstract

Robotics is one of the most promising fields of study for the 21st century. The employability of robotic systems is high, ranging from the automotive sector, such as welding robots in the automotive industry, to medicine (for example, robot surgeons). In this master’s thesis, a robotic system that consists of a two-link serial arm was analyzed and controllers were designed for this non-linear system using fuzzy logic. In particular, Takagi-Sugeno controllers were developed based on conventional fuzzy logic (also known as type 1) and type 2 interval fuzzy logic, together with the distributed parallel compensation technique (PDC), in which the nonlinear system was divided in regions of linear subsystems with state feedback, in which each response of the subsystem has its share of contribution in the final response of the system. The control of the system was analyzed from the IAE, ITEA, ISE and ITSE performance indexes and also by the accommodation time and the percentage of outstanding. In this context, based on these performance criteria, a comparison was made between the fuzzy type 1 PDC and fuzzy type 2 interval PDC controllers, both with state feedback to know who is the best.