DocumentCode
3211955
Title
A fuzzy PD controller for multi-link robot control: stability analysis
Author
Hsu, Ya-Chen ; Chen, Guanrong ; Sanchez, Edgar
Author_Institution
Dept. of Electr. & Comput. Eng., Houston Univ., TX, USA
Volume
2
fYear
1997
fDate
20-25 Apr 1997
Firstpage
1412
Abstract
A new multi-input multi-output (MIMO) fuzzy proportional-derivative (PD) controller is designed and analyzed in this paper for its asymptotic stability when used for multi-link robot arm systems. Simple sufficient conditions for designing stable control gains are derived via the Lyapunov method
Keywords
Lyapunov methods; MIMO systems; asymptotic stability; control system synthesis; fuzzy control; manipulator dynamics; two-term control; Lyapunov method; MIMO fuzzy PD controller; asymptotic stability; multi-link robot arm systems; multi-link robot control; stability analysis; stable control gains; sufficient conditions; Asymptotic stability; Control systems; Fuzzy control; Fuzzy systems; Lyapunov method; MIMO; PD control; Proportional control; Robot control; Sufficient conditions;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.614335
Filename
614335
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