A New Motion Tracking Controller with Feedforward Compensation for Robot Manipulators Based on Sectorial Fuzzy Control and Adaptive Neural Networks

Andres Pizarro-Lerma, Victor Santibañez, Ramon Garcia-Hernandez (), Jorge Villalobos-Chin and Javier Moreno-Valenzuela
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Andres Pizarro-Lerma: Instituto Tecnológico de Sonora, Ciudad Obregón C.P. 85000, Sonora, Mexico
Victor Santibañez: Tecnológico Nacional de Mexico/Instituto Tecnológico de La Laguna, Torreón C.P. 27000, Coahuila, Mexico
Ramon Garcia-Hernandez: Tecnológico Nacional de Mexico/Instituto Tecnológico de La Laguna, Torreón C.P. 27000, Coahuila, Mexico
Jorge Villalobos-Chin: Facultad de Ingeniería, Ciencias y Arquitectura de la Universidad Juárez del Estado de Durango, Gómez Palacio C.P. 35070, Durango, Mexico
Javier Moreno-Valenzuela: Centro de Investigación y Desarrollo de Tecnología Digital, Instituto Politécnico Nacional, Tijuana C.P. 22435, Baja California, Mexico

Mathematics, 2025, vol. 13, issue 6, 1-25

Abstract: A novel trajectory tracking control approach for robot manipulators that uses adaptive neural network feedforward compensation plus a sectorial fuzzy controller is presented. We conduct simulation and real-time experiments comparing it with two previously published control schemes: a Proportional–Derivative (PD) plus feedforward compensation controller model, and a sectorial fuzzy control plus feedforward compensation model. The proposed controller shows a faster transient response and better steady-state angular error performance than its counterparts, and it maintains its tolerance to parameter deviation, a main characteristic of fuzzy controllers; furthermore, it excludes the need for knowledge of the robot manipulator model to achieve excellent results. A formal stability analysis of the proposed controller in a closed loop with the robot manipulator guarantees that position and velocity errors converge to zero and all signals are uniformly bounded.

Keywords: sectorial fuzzy controller; adaptive neural feedforward compensation; robot manipulator; trajectory tracking (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
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