Jose Luis Meza

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—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)
—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)
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