Fuzzy PD+ Control for Robot Manipulators

@inproceedings{Santibez2000FuzzyPC,
  title={Fuzzy PD+ Control for Robot Manipulators},
  author={V{\'i}ctor Santib{\'a}{\~n}ez and Rafael Kelly and Miguel A. Llama},
  booktitle={ICRA},
  year={2000}
}
This paper deals with applications of fuzzy logic systems to motion control of robot manipulators. I n the proposed application, the fuzzy logic system plays the role of a tuner of the robot controller gains. This idea is evoked for the gains of the so-called PD+ control scheme and we demonstrate, by taking into account the full non-linear and multivariable nature of the robot dynamics, that the overall closed loop system is globally asymptotically stable. Experimental results on a two degrees… CONTINUE READING

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