Stability analysis of fuzzy robot control without fuzzy rule base

Author

Kasac, Josip ; Novakovic, Branko ; Majetic, Dubravko ; Brezak, Danko

Author_Institution

Fac. of Mech. Eng. & Naval Archit., Zagreb Univ., Croatia

Volume

1

fYear

2003

fDate

20-24 July 2003

Firstpage

310

Abstract

This paper presents the stability analysis of an analytic fuzzy PID controller for robot manipulators. The analytic fuzzy control is a nonconventional approach that uses an analytic function for output determination, instead of a fuzzy rule base. The stability analysis is based on Lyapunov´s direct method and does not require representation of the plant dynamics in the form of Takagi-Sugenos´s fuzzy model. The stability criterion, which ensures local asymptotic stability, is obtained. Finally, an example is given to demonstrate the obtained results.

Keywords

Lyapunov methods; control system analysis; fuzzy control; fuzzy logic; manipulator dynamics; stability; three-term control; Lyapunov´s direct method; analytic function; analytic fuzzy PID controller; analytic fuzzy control; closed loop system; fuzzy robot control; local asymptotic stability; robot dynamics; robot manipulators; stability analysis; stability criterion; Control systems; Fuzzy control; Fuzzy logic; Fuzzy sets; Fuzzy systems; Manipulator dynamics; Nonlinear dynamical systems; Robot control; Stability analysis; Three-term control;

fLanguage

English

Publisher

ieee

Conference_Titel

Neural Networks, 2003. Proceedings of the International Joint Conference on

ISSN

1098-7576

Print_ISBN

0-7803-7898-9

Type

conf

DOI

10.1109/IJCNN.2003.1223363

Filename

1223363