Motion control of planar parallel robot using the fuzzy descriptor system approach
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Updated: May 22, 2026

Operation of the Collaborative Composite Manufacturing (CCM) System
Published on: October 1, 2019
Laurent Vermeiren1, Antoine Dequidt, Mohamed Afroun
1UVHC, LAMIH/CNRS, UMR 8201, F-59313 Valenciennes, France. laurent.vermeiren@univ-valenciennes.fr
Abstract:
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/stabilization framework. A comparison study between the classical control strategies from robotics and the control design using TS fuzzy descriptor models is carried out to show the interest of the proposed approach.
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