Sectorial Fuzzy Controller Plus Feedforward for the Trajectory Tracking of Robotic Arms in Joint Space

Andres Pizarro-Lerma, Victor Santibañez, Ramon Garcia-Hernandez and Jorge Villalobos-Chin
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Andres Pizarro-Lerma: Instituto Tecnologico de Sonora, 5 de Febrero 818 sur, Ciudad Obregón C.P. 85000, Sonora, Mexico
Victor Santibañez: Tecnologico Nacional de Mexico/Instituto Tecnologico de La Laguna, Blvd. Revolucion y Av. Instituto Tecnologico de La Laguna S/N, Torreon C.P. 27000, Coahuila, Mexico
Ramon Garcia-Hernandez: Tecnologico Nacional de Mexico/Instituto Tecnologico de La Laguna, Blvd. Revolucion y Av. Instituto Tecnologico de La Laguna S/N, Torreon C.P. 27000, Coahuila, Mexico
Jorge Villalobos-Chin: Tecnologico Nacional de Mexico/Instituto Tecnologico de La Laguna, Blvd. Revolucion y Av. Instituto Tecnologico de La Laguna S/N, Torreon C.P. 27000, Coahuila, Mexico

Mathematics, 2021, vol. 9, issue 6, 1-40

Abstract: In this paper, we propose a Sectorial Fuzzy Controller (SFC) with a feedforward compensation of the robot dynamics in joint space, evaluated at the desired angular positions, velocities, and accelerations, applied to the trajectory tracking of all revolute joints robotic arms. Global uniform asymptotic stability proof applying the direct Lyapunov theorem, is introduced for this new control scheme by using a strict Lyapunov function. This strict Lyapunov function is the first one within the field of fuzzy control that is applied to the trajectory control of robotic manipulators. With this strict Lyapunov function, a sensitivity analysis was also computed for this novel control scheme. Additionally, physical and simulation experimental results are given in comparison to the original control scheme, in which this new controller is inspired: the Proportional-Derivative (PD) controller plus feedforward compensation. The experimental results yielded better performance for the new fuzzy control scheme when compared to the classical structure, in both the joint position errors for similar or smaller values of applied torques, showing the expected tolerance to parametric deviations and uncertainties that all fuzzy controllers possess.

Keywords: sectorial fuzzy controller; robotic arm; tracking control; feedforward compensation; strict lyapunov function (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2021
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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