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This paper deals with the problem of optimizing a fuzzy self-tuning PID controller for robot manipulators. Fuzzy PID controllers have been developed and applied in many fields in the last fifteen years. However, there is no systematic method to design Membership Functions (MFs) for these controllers. We propose a simple method based on Genetic Algorithms (GA) to find optimal input and output MFs of...
In this paper we present a fuzzy self-tuning algorithm to select the Proportional, Integral and Derivative gains of a PID controller according to the actual state of a robotic manipulator. The stability via Lyapunov theory for the closed loop control system is also analyzed and shown that is locally asymptotically stable for a class of gain matrices depending on the manipulator states. This feature...
A simple nonlinear proportional-integral-derivative (PID) controller is proposed to solve the finite-time regulation of uncertain robot manipulators. The semiglobal finite-time stabilization is shown by using Lyapunov theory and finite-time stability theory. The proposed control algorithm does not involve the modeling information in the control law formulation and the control gains can be explicitly...
TS-PID fuzzy controller is proposed as a novel framework for nonlinear PID controller design in this paper. The so-called TS-PID fuzzy controllers are a class of Takagi-Sugeno (TS) fuzzy controllers whose rule consequences employ PID expressions. Based on Lyapunov theory, a design and stability analysis method of TS-PID fuzzy controllers is presented. This approach utilizes some analytical techniques...
In this paper a controller for flexible joint robots (FJR) in presence of actuator saturation is proposed, its robust stability is analyzed, and it is implemented on a laboratory FJR. This controller consists of a composite structure, with a PD controller on the fast dynamics and a PID controller on slow dynamics. The need of powerful actuator is released through decrease of fast controller bandwidth...
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