OTHER
A fuzzy PD controller for multi-link robot control: stability analysis
Ya-Chen Hsu, Guanrong Chen, Edgar Reyes Sánchez
- Year
- 2002
- Citations
- 18
Abstract
A new multi-input multi-output (MIMO) fuzzy proportional-derivative (PD) controller is designed and analyzed in this paper for its asymptotic stability when used for multi-link robot arm systems. Simple sufficient conditions for designing stable control gains are derived via the Lyapunov method.
Keywords
Control theory (sociology)Controller (irrigation)Fuzzy logicFuzzy control systemLink (geometry)RobotStability (learning theory)Exponential stabilityMIMOComputer science
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