Implementation of a fuzzy Lyapunov-based control strategy for a macro-micro manipulator

The experimental results for the implementation of a fuzzy tracking controller on a macro-micro manipulator (M3) are shown and compared to those of a joint-PD controller. The test bed is a nonlinear nonminimum-phase MIMO system with a complex dynamic model and pronounced joint frictions. The controller belongs to a class of fuzzy controllers based on Lyapunov-function reasoning. The control strategy assumes no a priori knowledge about the system dynamics, however it uses the structural properties of the system model. Although the control structure can be of the form of many standard fuzzy control techniques, it may also be interpreted as a nonlinear MIMO PID. It is shown that the performance of the proposed controller is better than that of the joint-PD and can be further improved using fuzzy control techniques.