Fuzzy PD+ Control for Robot Manipulators

  title={Fuzzy PD+ Control for Robot Manipulators},
  author={V{\'i}ctor Santib{\'a}{\~n}ez and Rafael Kelly and Miguel A. Llama},
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

From This Paper

Figures, tables, and topics from this paper.


Publications referenced by this paper.

Lya - punov stable control of robot manipulators : A fuzzy self - tuning procedure , Intelligent Automation and Soft Computing , To appear ( 1999 ) . D . Koditschek , Natural motion for robot arms

  • R. Haber, R. E. Haber
  • 1989

Robot Dynamics and Control (John Wiley and Sons, NY

  • M. Vidyasagar
  • 1989

PD+ controller for robot manipulators, Znt

  • R. Panja, Globally
  • J. Control
  • 1988

Mathematical methods in the physical sciences, Second Edition

  • M. Boas
  • (John Wiley, )
  • 1983

Experimental evaluation of identification schemes on a direct - drive robot

  • R. Kelly Reyes
  • J . Control

Globally asymptotically stable PD + controller for robot manipulators , Znt

  • V. Santibaiiez, R. Kelly, J. Flores, P. Coiffet
  • Fuzzy dynamic control of robot manipulators : A…

Similar Papers

Loading similar papers…