T-S fuzzy model in discrete form and its application to identification of a plane manipulator with two degrees of freedom
Zhang Zhendong, Sun Zenqi · 2002
A discrete form of a Takagi-Sugeno (T-S) model for a plane manipulator with two degrees of freedom is proposed. The identification problem of the T-S model is discussed. In the first step, the system is excited by a pseudo-random number sequence in every node, the input and output data are recorded, and then a local linearization equation is identified by the method of least squares in the node. In the second step, the model identified in the first step is corrected by a fuzzy-neural network in order to improve its accuracy. Finally, a simulation result of the system is proposed.