Fuzzy + PID Controller for Robot Manipulator

Author

Anavatti, S.G. ; Salman, S.A. ; Choi, J.Y.

Author_Institution

Sch. of Aerosp., Civil & Mech. Eng., Australian Defence Force Acad., Canberra, ACT

fYear

2006

fDate

Nov. 28 2006-Dec. 1 2006

Firstpage

75

Lastpage

75

Abstract

Design and stability analysis for a hybrid fuzzy logic controller is presented in the present work for a robot manipulator. The PD-type fuzzy controller is combined with a conventional PID controller to enhance the performance and robustness of the controller. A simple stability analysis is presented for the hybrid controller. Numerical simulation results are presented to validate the controller design.

Keywords

control system synthesis; fuzzy control; manipulators; numerical analysis; robust control; three-term control; PD-type fuzzy controller; controller robustness; fuzzy+PID controller; hybrid controller; hybrid fuzzy logic controller design; numerical simulation; robot manipulator; stability analysis; Automatic control; Control systems; Fuzzy control; Fuzzy logic; Fuzzy sets; Fuzzy systems; Manipulators; PD control; Robot control; Three-term control;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence for Modelling, Control and Automation, 2006 and International Conference on Intelligent Agents, Web Technologies and Internet Commerce, International Conference on

Conference_Location

Sydney, NSW

Print_ISBN

0-7695-2731-0

Type

conf

DOI

10.1109/CIMCA.2006.103

Filename

4052716