A fuzzy Lyapunov-based control strategy for a macro-micro manipulator

被引：0
|
作者：
Mannani, A [1 ]
Talebi, HA [1 ]
机构：
[1] Amirkabir Univ Technol, Dept Elect Engn, Tehran, Iran
来源：
CCA 2003: PROCEEDINGS OF 2003 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2 | 2003年
关键词：
Lyapunov function; stability; tracking; fuzzy control; nonlinear PID; MIMO systems; M3;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A class of fuzzy tracking controllers is presented based on Lyapunov-function reasoning. The control strategy assumes no knowledge about the system dynamics, however it uses the structural properties of the system model. Although the control structure can be of the form of many standard fuzzy control techniques, it may also be interpreted as a nonlinear MIMO PID. Simulation results for tracking control of a nonlinear nonminimum-phase MIMO system, namely a macro-micro manipulator (M3) are presented to show the effectiveness of the proposed controller.
引用
收藏
页码：368 / 373
页数：6
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