Jose Luis Meza

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In this paper we propose a saturated nonlinear PID regulator for solving the problem of global regulation in robot manipulators with bounded torques. An approach based on interconnected passive systems is used for analyzing the global asymptotic stability. To this end, we use a passivity theorem which is an adaptation of a passivity theorem given in(More)
—In this paper, we present a semiglobal asymptotic stability analysis via Lyapunov theory for a new proportional-integral-derivative (PID) controller control scheme, proposed in this work, which is based on a fuzzy system for tuning the PID gains for robot manipulators. PID controller is a well-known set point control strategy for industrial manipulators(More)
—In this paper we present a fuzzy self-tuning algorithm to select the Proportional, Integral and Derivative gains of a PID controller according to the actual state of a robotic manipulator. The stability via Lyapunov theory for the closed loop control system is also analyzed and shown that is locally asymptotically stable for a class of gain matrices(More)
This paper deals with the problem of optimizing a fuzzy self-tuning PID controller for robot manipulators. Fuzzy PID controllers have been developed and applied in many fields in the last fifteen years. However, there is no systematic method to design Membership Functions (MFs) for these controllers. We propose a simple method based on Genetic Algorithms(More)
También dedico este trabajo a mis compañeros de la Facultad de Ciencias Físico Matemáticas y a todos aquellos que hicieron posible para que terminara este trabajo. 3.1 Un modelo neuronal simple como un procesador con múltiples entradas (dendritas) y una sola salida (axón). Los problemas de control automático que surgen en una amplia variedad de campos de la(More)
In this paper the problem of trajectory tracking is studied. Based on the V-stability and Lyapunov theory, a control law that achieves the global asymptotic stability of the tracking error between a recurrent neural network and the state of each single node of a complex dynamical network is obtained. To illustrate the analytic results we present a tracking(More)
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