Title :
Fuzzy PD+ control for robot manipulators
Author :
Santibañez, Victor ; Kelly, Rafael ; Llama, Miguel A.
Author_Institution :
Inst. Tecnologico de la Laguna, Coahuila, Mexico
Abstract :
This paper deals with applications of fuzzy logic systems to motion control of robot manipulators. In the proposed application, the fuzzy logic system plays the role of a tuner of the robot controller gains. This idea is evoked for the gains of the so-called PD+ control scheme and we demonstrate, by taking into account the full nonlinear and multivariable nature of the robot dynamics, that the overall closed loop system is globally asymptotically stable. Experimental results on a two degrees of freedom direct-drive arm show the usefulness of the proposed control approach
Keywords :
asymptotic stability; closed loop systems; fuzzy control; fuzzy logic; manipulator dynamics; motion control; multivariable systems; nonlinear systems; two-term control; PD+ control; asymptotic stability; closed loop system; fuzzy control; fuzzy logic; manipulators; motion control; multivariable systems; nonlinear systems; robot dynamics; Closed loop systems; Control systems; Fuzzy control; Fuzzy logic; Manipulator dynamics; Motion control; Nonlinear control systems; Nonlinear dynamical systems; Robot control; Tuners;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846341
