D Esign of L Yapunov Based F Uzzy Logic C Ontroller for Puma - 560 Robot Manipulator

As the robot manipulators are highly nonlinear, time varying and Multiple Input Multiple Output (MIMO) systems, one of the most important challenges in the field of robotics is robot manipulators control with acceptable performance. In this research paper, a simple and computationally efficient Fuzzy Logic Controller is designed based on the Fuzzy Lyapunov Synthesis (FLS) for the position control of PUMA-560 robot manipulator. The proposed methodology enables the designer to systematically derive the rule base thereby guarantees the stability of the controller. The methodology is model free and does not require any information about the system nonlinearities, uncertainties, time varying parameters, etc. The performance of any fuzzy logic controller (FLC) is greatly dependent on its inference rules. The closed-loop control performance and stability are enhanced if more rules are added to the rule base of the FLC. However, a large set of rules requires more on-line computational time and more parameters need to be adjusted. Here, a Fuzzy Logic Controller is first designed and then the controller based on FLS is designed and simulated with a minimum rule base. Finally the simulation results of the proposed controller are compared with that of the normal Fuzzy Logic Controller and PD controlled Computed Torque Controller (PD-CTC). Results show that the proposed controller outperformed the other controllers.