Fuzzy point-to-point control of mechanical systems

A method for fuzzy point-to-point control for mechanical systems is presented. Stability of the resulting closed-loop system is proved using Lyapunov stability theory. System performance and robustness are expressed in terms of fuzzy control law parameters. It is shown that the closed-loop stability of the proposed controller does not depend on the knowledge of the system dynamics. Moreover, the approach does not require open-loop stability of the plant. A design and simulation study of a fuzzy controller for a two-link robotic arm is used to demonstrate the proposed approach.