Fuzzy + PID Controller for Robot Manipulator

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 01 Jan 2006Publisher:IEEEJournal:2006 International Conference on Computational Inteligence for Modelling Control and Automation and International Conference on Intelligent Agents Web Technologies and International Commerce (CIMCA'06)

Authors: Sreenatha G. Anavatti; Shaaban Ali Salman; Jin Young Choi 0002;

doi: 10.1109/cimca.2006.103

Fuzzy + PID Controller for Robot Manipulator

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Abstract

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.

Related Organizations

Seoul National University
Korea (Republic of)
Australian Defence Force Academy
Australia

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