Stable 2-Way Fuzzy Adaptive Control of a Flexible-Joint Robot Arm

Authors:	Gurkan Evren, Case Western Reserve Univ., United States Erkmen Aydan M., Middle East Technical University, Turkey Erkmen Ismet, Middle East Technical University, Turkey
Topic:	2.1 Control Design
Session:	Robot and Position Control
Keywords:	Fuzzy control, Describing function, Flexible arm

Abstract

We analyze the stability of our novel 2-way fuzzy adaptive controller using describing function technique. We use additivity property of fuzzy systems to develop a systematic analytical approach for the design of a multi-input single-output fuzzy controller that we use for the control of a flexible-joint robot arm.