DocumentCode
2414962
Title
Asymptotic stability analysis of a fuzzily controlled flexible-joint robotic manipulator
Author
Misir, Dave ; Malki, Heidar A.
Author_Institution
Electr. & Comput. Eng. Dept., Houston Univ., TX, USA
fYear
2003
fDate
8-8 Oct. 2003
Firstpage
210
Lastpage
215
Abstract
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.
Keywords
Lyapunov methods; MIMO systems; asymptotic stability; flexible manipulators; fuzzy control; three-term control; Lyapunov function; Lyapunov stability analysis; MIMO configuration; flexible joint robotic manipulators; full order system; fuzzy PID controller; fuzzy control; fuzzy proportional-integral-derivative controller; global asymptotic stability analysis; multiple input multiple output configuration; multiple link robotic manipulator;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control. 2003 IEEE International Symposium on
Conference_Location
Houston, TX, USA
ISSN
2158-9860
Print_ISBN
0-7803-7891-1
Type
conf
DOI
10.1109/ISIC.2003.1253941
Filename
1253941
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