Fuzzy + PID Controller for Robot Manipulator

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 presente...

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Bibliographic Details
Published in2006 International Conference on Computational Inteligence for Modelling Control and Automation and International Conference on Intelligent Agents Web Technologies and International Commerce (CIMCA'06) p. 75
Main Authors Anavatti, S.G., Salman, S.A., Choi, J.Y.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2006
Subjects
Automatic control
Control systems
Fuzzy control
Fuzzy logic
Fuzzy sets
Fuzzy systems
Manipulators
PD control
Robot control
Three-term control
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Summary: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 are presented to validate the controller design.
ISBN:0769527310
9780769527314
DOI:10.1109/CIMCA.2006.103