A fuzzy Lyapunov-based control strategy for a macro-micro manipulator

Author

Mannani, A. ; Talebi, H.A.

Author_Institution

Dept. of Electr. Eng., Amirkabir Univ. of Technol., Tehran, Iran

Volume

1

fYear

2003

fDate

23-25 June 2003

Firstpage

368

Abstract

A class of fuzzy tracking controllers is presented based on Lyapunov-function reasoning. The control strategy assumes no 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 control. Simulation results for tracking control of a nonlinear nonminimum-phase MIMO system, namely a macro-micro manipulator (M3) are presented to show the effectiveness of the proposed controller.

Keywords

Lyapunov methods; MIMO systems; fuzzy control; manipulator dynamics; nonlinear control systems; stability; three-term control; tracking; Lyapunov-function reasoning; MIMO systems; fuzzy control; macro-micro manipulator; nonlinear PID control; nonlinear control systems; nonlinear systems; nonminimum phase system; system dynamics; system model; three-term control; tracking; Control systems; Fuzzy control; Fuzzy systems; Lyapunov method; MIMO; Manipulator dynamics; Nonlinear control systems; Performance analysis; Sliding mode control; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on

Print_ISBN

0-7803-7729-X

Type

conf

DOI

10.1109/CCA.2003.1223413

Filename

1223413