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

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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)

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.

Suggested Citation

  • Andres Pizarro-Lerma & Victor Santibañez & Ramon Garcia-Hernandez & Jorge Villalobos-Chin, 2021. "Sectorial Fuzzy Controller Plus Feedforward for the Trajectory Tracking of Robotic Arms in Joint Space," Mathematics, MDPI, vol. 9(6), pages 1-40, March.
    • Handle: RePEc:gam:jmathe:v:9:y:2021:i:6:p:616-:d:516998
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    References listed on IDEAS

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    1. Simona-Vasilica Oprea & Adela Bâra & Ștefan Preda & Osman Bulent Tor, 2020. "A Smart Adaptive Switching Module Architecture Using Fuzzy Logic for an Efficient Integration of Renewable Energy Sources. A Case Study of a RES System Located in Hulubești, Romania," Sustainability, MDPI, vol. 12(15), pages 1-27, July.
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    Cited by:

    1. Donghwi Kim & Umar Fitra Ramadhan & Saif Ul Islam & Seungmin Jung & Minhan Yoon, 2022. "Design and Implementation of Novel Fault Ride through Circuitry and Control for Grid-Connected PV System," Sustainability, MDPI, vol. 14(15), pages 1-19, August.

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