Research of Nonlinear Output Regulation for Systems Described by Takagi–Sugeno Fuzzy Descriptor Models with Steady State Mapping for the Optimization and Implementation of a Hand Rehabilitation
摘要
This work is focused to providing a numerical solution to the nonlinear output regulation problem for descriptor systems. The control law under design is nonlinear, consisting of a nonlinear stabilizer combined with a linear steady-state mapping as well as a nonlinear steady-state input mapping; all of them are computed via linear matrix inequalities. A numerical example and a mechanical system are used to illustrate the viability of the proposed approach, with the aim of implementing this result to a biomechanical system for the rehabilitation of an upper limb (in shoulder, elbow or finger) in the future.