Stability Analysis of Fuzzy Robot Control Without Fuzzy Rule Base (CROSBI ID 491045)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko
engleski
Stability Analysis of Fuzzy Robot Control Without Fuzzy Rule Base
This paper presents the stability analysis of an analytic fuzzy PID controller for robot manipulators. The analytic fuzzy control is a nonconventional approach that uses an analytic function for output determination, instead of a fuzzy rule base. The stability analysis is based on Lypunov's direct method and does not require representation of the plant dynamics in the form of Takagi-Sugenos's fuzzy model. The stability criterion, which ensure local asymptotic stability, is obtained. Finally, an example is given to demonstrate the obtained results.
Fuzzy Control; Robot Control; Stability Analysis; Analytic Fuzzy Control
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Podaci o prilogu
2003 IEEE, 310-3-x.
2003.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of IJCNN 2003 Conference: International Joint Conference on Neural Networks
Wunsch, Donald
Singapur : London : München : Ženeva : Tokyo : Hong Kong : Taipei : Peking : Šangaj : Tianjin : Chennai: IEEE-INNS
Podaci o skupu
2003 International Joint Conference on Neural Networks
predavanje
20.07.2003-24.07.2003
Portland (OR), Sjedinjene Američke Države