Fuzzy PD+ control for robot manipulators

Abstract

This paper deals with applications of fuzzy logic systems to motion control of robot manipulators. In the proposed application, the fuzzy logic system plays the role of a tuner of the robot controller gains. This idea is evoked for the gains of the so-called PD+ control scheme and we demonstrate, by taking into account the full nonlinear and multivariable nature of the robot dynamics, that the overall closed loop system is globally asymptotically stable. Experimental results on a two degrees of freedom direct-drive arm show the usefulness of the proposed control approach.