Stability analysis of fuzzy robot control without fuzzy rule base

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.