Title :
A passivity based stability analysis for a fuzzy PD+ control for robot manipulators
Author :
Llama, Miguel A. ; Santibañez, Victor ; Flores, Jesus
Author_Institution :
Inst. Tecnologico de la Laguna, Mexico
Abstract :
In this paper we present a passivity analysis for a motion control scheme, based on a fuzzy system for tuning the PD gains of the well known PD+ tracking controller for robot manipulators. We demonstrate, by exploiting the full nonlinear and multivariate nature of the robot´s dynamics and its passivity property, that the overall closed loop system is asymptotically stable. In this control scheme, the fuzzy logic system plays the role of a tuner of the robot controller gains. We show that the closed loop system can be seen like two interconnected subsystems, where the nonlinear feedforward block is passive and the nonlinear feedback block is input strictly passive
Keywords :
asymptotic stability; closed loop systems; feedback; feedforward; fuzzy control; fuzzy systems; manipulator dynamics; motion control; multivariable control systems; nonlinear control systems; two-term control; PD gain tuning; PD+ tracking controller; asymptotic stability; closed loop system; fuzzy PD+ control; fuzzy logic system; fuzzy system; interconnected subsystems; motion control scheme; multivariate robot dynamics; nonlinear feedback block; nonlinear feedforward block; nonlinear robot dynamics; passivity based stability analysis; robot manipulators; Closed loop systems; Control systems; Fuzzy control; Fuzzy systems; Manipulator dynamics; Motion control; Nonlinear dynamical systems; Robot control; Stability analysis; Tracking;
Conference_Titel :
Fuzzy Information Processing Society, 1999. NAFIPS. 18th International Conference of the North American
Conference_Location :
New York, NY
Print_ISBN :
0-7803-5211-4
DOI :
10.1109/NAFIPS.1999.781777
