Fuzzy + PID Controller for Robot Manipulator

Abstract

Design and stability analysis for a hybrid fuzzy logic controller is presented in the present work for a robot manipulator. The PD-type fuzzy controller is combined with a conventional PID controller to enhance the performance and robustness of the controller. A simple stability analysis is presented for the hybrid controller. Numerical simulation results… (More)
DOI: 10.1109/CIMCA.2006.103

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