Lyapunov Stable Control of Robot Manipulators: A Fuzzy Self-Tuning Procedure.
Rafael KellyRodolfo HaberRodolfo Haber-GuerraFernando Reyes-CortésPublished in: Intell. Autom. Soft Comput. (1999)
Keyphrases
- control of robot manipulators
- robot manipulators
- control scheme
- fuzzy sets
- equilibrium point
- pid controller
- fuzzy controller
- closed loop
- fuzzy logic
- membership functions
- stability analysis
- sufficient conditions
- nonlinear systems
- fuzzy rules
- real time
- fuzzy systems
- control law
- neural network
- asymptotic stability
- control theory
- dynamical systems
- adaptive control
- dynamic environments
- simulated annealing
- fuzzy numbers
- computational intelligence
- nonlinear dynamics
- tracking error
- soft computing
- exponential stability
- fuzzy clustering