Title: Liapunov stability for a fuzzy PID controlled flexible-joint manipulator

Authors: Dave Misir, Heidar A. Malki

Addresses: Electrical and Computer Engineering Department, University of Houston, 304 Technology Building, Houston, TX 77204-4020, USA. ' Engineering Technology Department, University of Houston, Houston, TX 77204-4020, USA

Abstract: This paper presents Liapunov stability analyses for flexible-joint robotic manipulators controlled by a fuzzy proportional-integral-derivative (PID) controller that was developed by the present authors. This new fuzzy PID controller preserves the simple linear structure of its conventional counterpart yet enhances its self-tuning control capability, thereby significantly improving tracking control performance. This fuzzy PID controller is extended to a MIMO configuration for the multiple link robotic manipulator. Simulation results on a two-link flexible-joint robot arm are shown to demonstrate superior performance.

Keywords: fuzzy control; PID controller; flexible robots; Liapunov stability; PID control; robot control; fuzzy logic; simulation; flexible-joint manipulators; robotics; tracking control; robot tracking.

DOI: 10.1504/IJCAT.2006.011136

International Journal of Computer Applications in Technology, 2006 Vol.27 No.2/3, pp.97 - 106

Published online: 19 Oct 2006 *

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