Stability analysis of fuzzy robot control without fuzzy rule base

Abstract

This paper presents the stability analysis of an analytic fuzzy PID controller for robot manipulators. The analytic fuzzy control is a nonconventional approach that uses an analytic function for output determination, instead of a fuzzy rule base. The stability analysis is based on Lyapunov's direct method and does not require representation of the plant dynamics in the form of Takagi-Sugenos's fuzzy model. The stability criterion, which ensures local asymptotic stability, is obtained. Finally, an example is given to demonstrate the obtained results.