Liapunov stability for a fuzzy PID controlled flexible-joint manipulator

Abstract

This paper presents Liapunov stability analyses for flexible-joint robotic manipulators controlled by a fuzzy proportional-integral-derivative (PID) controller that was developed by the present authors. This new fuzzy PID controller preserves the simple linear structure of its conventional counterpart yet enhances its self-tuning control capability, thereby significantly improving tracking control performance. This fuzzy PID controller is extended to a MIMO configuration for the multiple link robotic manipulator. Simulation results on a two-link flexible-joint robot arm are shown to demonstrate superior performance.