Graphical stability analysis for a fuzzy PID controlled robot arm model

Dave Misir; Heidar A. Malki; Guanrong Chen

doi:10.1109/FUZZY.1998.687528

Graphical stability analysis for a fuzzy PID controlled robot arm model

Dave Misir
, Heidar A. Malki
, Guanrong Chen

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

12 Citations (Scopus)

Abstract

This paper describes a graphical approach to stability analysis for a two-link flexible-joint robot arm model controlled by a fuzzy proportional-integral-derivative (PID) controller 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. A simulation result on a two-link flexible-joint robot arm model is included to visualize such satisfactory performance. A simple and realistic sufficient condition for the stability of the overall feedback control system is then derived from a graphical approach, giving a safe region for design, on which the fuzzy PID controlled robot arm system have guaranteed stability. © 1998 IEEE

Original language	English
Title of host publication	IEEE International Conference on Fuzzy Systems
Publisher	IEEE
Pages	451-455
Volume	1
ISBN (Print)	0-7803-4863-X
DOIs	https://doi.org/10.1109/FUZZY.1998.687528
Publication status	Published - May 1998
Externally published	Yes
Event	1998 IEEE International Conference on Fuzzy Systems - Anchorage, AK, United States Duration: 4 May 1998 → 9 May 1998

Publication series

Name
ISSN (Print)	1098-7584

Conference

Conference	1998 IEEE International Conference on Fuzzy Systems
Place	United States
City	Anchorage, AK
Period	4/05/98 → 9/05/98

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10.1109/FUZZY.1998.687528

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@inproceedings{29315d55b00e476b8a07178d54c6b435,

title = "Graphical stability analysis for a fuzzy PID controlled robot arm model",

abstract = "This paper describes a graphical approach to stability analysis for a two-link flexible-joint robot arm model controlled by a fuzzy proportional-integral-derivative (PID) controller 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. A simulation result on a two-link flexible-joint robot arm model is included to visualize such satisfactory performance. A simple and realistic sufficient condition for the stability of the overall feedback control system is then derived from a graphical approach, giving a safe region for design, on which the fuzzy PID controlled robot arm system have guaranteed stability. {\textcopyright} 1998 IEEE",

author = "Dave Misir and Malki, \{Heidar A.\} and Guanrong Chen",

year = "1998",

month = may,

doi = "10.1109/FUZZY.1998.687528",

language = "English",

isbn = "0-7803-4863-X",

volume = "1",

publisher = "IEEE",

pages = "451--455",

booktitle = "IEEE International Conference on Fuzzy Systems",

address = "United States",

note = "1998 IEEE International Conference on Fuzzy Systems ; Conference date: 04-05-1998 Through 09-05-1998",

}

TY - GEN

T1 - Graphical stability analysis for a fuzzy PID controlled robot arm model

AU - Misir, Dave

AU - Malki, Heidar A.

AU - Chen, Guanrong

PY - 1998/5

Y1 - 1998/5

N2 - This paper describes a graphical approach to stability analysis for a two-link flexible-joint robot arm model controlled by a fuzzy proportional-integral-derivative (PID) controller 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. A simulation result on a two-link flexible-joint robot arm model is included to visualize such satisfactory performance. A simple and realistic sufficient condition for the stability of the overall feedback control system is then derived from a graphical approach, giving a safe region for design, on which the fuzzy PID controlled robot arm system have guaranteed stability. © 1998 IEEE

AB - This paper describes a graphical approach to stability analysis for a two-link flexible-joint robot arm model controlled by a fuzzy proportional-integral-derivative (PID) controller 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. A simulation result on a two-link flexible-joint robot arm model is included to visualize such satisfactory performance. A simple and realistic sufficient condition for the stability of the overall feedback control system is then derived from a graphical approach, giving a safe region for design, on which the fuzzy PID controlled robot arm system have guaranteed stability. © 1998 IEEE

UR - https://www.scopus.com/pages/publications/0031644872

UR - https://www.scopus.com/pages/publications/0031644872#tab=impact

U2 - 10.1109/FUZZY.1998.687528

DO - 10.1109/FUZZY.1998.687528

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 0-7803-4863-X

VL - 1

SP - 451

EP - 455

BT - IEEE International Conference on Fuzzy Systems

PB - IEEE

T2 - 1998 IEEE International Conference on Fuzzy Systems

Y2 - 4 May 1998 through 9 May 1998

ER -

Graphical stability analysis for a fuzzy PID controlled robot arm model

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