Journal: Sensors (Basel, Switzerland)

Article Title: Proposal of Takagi–Sugeno Fuzzy-PI Controller Hardware

doi: 10.3390/s20071996

Figure Lengend Snippet: Structure of 3DOF Phantom Omni robotic manipulator.

Article Snippet: M θ ( t ) ∈ R 3 × 3 is the inertia matrix, C θ ( t ) , θ ˙ ( t ) ∈ R 3 × 3 is the Coriolis and centrifugal forces matrix, g θ ( t ) ∈ R 3 × 1 represents the gravity force acting on the joints, θ ( t ) , and the f θ ˙ ( t ) is the friction force on the joints, θ ( t ) [ , , , ]. shows the simulated system where the plant is the 3DOF Phantom Omni robotic manipulator.

Techniques:

Journal: Sensors (Basel, Switzerland)

Article Title: Proposal of Takagi–Sugeno Fuzzy-PI Controller Hardware

doi: 10.3390/s20071996

Figure Lengend Snippet: Simulated system used to validate the Fuzzy-PI hardware proposal. The plant is the 3DOF Phantom Omni robotic manipulator and there are three pieces of Fuzzy-PI hardware running in parallel.

Article Snippet: M θ ( t ) ∈ R 3 × 3 is the inertia matrix, C θ ( t ) , θ ˙ ( t ) ∈ R 3 × 3 is the Coriolis and centrifugal forces matrix, g θ ( t ) ∈ R 3 × 1 represents the gravity force acting on the joints, θ ( t ) , and the f θ ˙ ( t ) is the friction force on the joints, θ ( t ) [ , , , ]. shows the simulated system where the plant is the 3DOF Phantom Omni robotic manipulator.

Techniques: