Title :
A fuzzy PD controller for multi-link robot control: stability analysis
Author :
Hsu, Ya-Chen ; Chen, Guanrong ; Sanchez, Edgar
Author_Institution :
Dept. of Electr. & Comput. Eng., Houston Univ., TX, USA
Abstract :
A new multi-input multi-output (MIMO) fuzzy proportional-derivative (PD) controller is designed and analyzed in this paper for its asymptotic stability when used for multi-link robot arm systems. Simple sufficient conditions for designing stable control gains are derived via the Lyapunov method
Keywords :
Lyapunov methods; MIMO systems; asymptotic stability; control system synthesis; fuzzy control; manipulator dynamics; two-term control; Lyapunov method; MIMO fuzzy PD controller; asymptotic stability; multi-link robot arm systems; multi-link robot control; stability analysis; stable control gains; sufficient conditions; Asymptotic stability; Control systems; Fuzzy control; Fuzzy systems; Lyapunov method; MIMO; PD control; Proportional control; Robot control; Sufficient conditions;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614335
