Fuzzy point-to-point control of mechanical systems

Author

Kohn-Rich, Sylvia ; Flashner, Henryk

Author_Institution

Dept. of Mech. Eng., Univ. of Southern California, Los Angeles, CA, USA

Volume

1

fYear

1998

fDate

4-9 May 1998

Firstpage

462

Abstract

A method for fuzzy point-to-point control for mechanical systems is presented. Stability of the resulting closed-loop system is proved using Lyapunov stability theory. System performance and robustness are expressed in terms of fuzzy control law parameters. It is shown that the closed-loop stability of the proposed controller does not depend on the knowledge of the system dynamics. Moreover, the approach does not require open-loop stability of the plant. A design and simulation study of a fuzzy controller for a two-link robotic arm is used to demonstrate the proposed approach

Keywords

Lyapunov methods; closed loop systems; control system synthesis; fuzzy control; manipulators; robust control; Lyapunov stability theory; fuzzy point-to-point control; mechanical systems; robustness; system performance; two-link robotic arm; Control systems; Fuzzy control; Fuzzy systems; Lyapunov method; Mechanical systems; Open loop systems; Position control; Robust control; Stability; System performance;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems Proceedings, 1998. IEEE World Congress on Computational Intelligence., The 1998 IEEE International Conference on

Conference_Location

Anchorage, AK

ISSN

1098-7584

Print_ISBN

0-7803-4863-X

Type

conf

DOI

10.1109/FUZZY.1998.687530

Filename

687530