Asymptotic stability analysis of a fuzzily controlled flexible-joint robotic manipulator

This paper presents Lyapunov stability analysis for flexible-joint robotic manipulators controlled by a fuzzy proportional-integral-derivative (PID) controller developed by the present authors. This fuzzy PID controller is extended to a MIMO configuration for the multiple link robotic manipulator. A single Lyapunov function that guarantees global asymptotic stability for the complete full-order system will be presented.