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Stable fuzzy logic design of point-to-point control for mechanical systems

✍ Scribed by Sylvia Kohn-Rich; Henryk Flashner

Publisher
Elsevier Science
Year
2000
Tongue
English
Weight
440 KB
Volume
110
Category
Article
ISSN
0165-0114

No coin nor oath required. For personal study only.

✦ Synopsis

An approach for the development of fuzzy point-to-point control laws for second-order mechanical systems is presented. Asymptotic stability of the resulting closed-loop system is proved using Lyapunov stability theory. Closed-loop performance and robustness are quantiΓΏed in terms of the parameters of membership functions. As opposed to most existing fuzzy control laws, the closed-loop stability of the proposed controller does not depend on the knowledge of the entire dynamics. Moreover, the approach does not require the plant to be open-loop stable. The proposed approach is demonstrated on design and simulation study of a fuzzy controller for a two-link robotic arm.

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