Sectorial Fuzzy Controller Plus Feedforward applied to the Trajectory Tracking of Robot Manipulators

Abstract

In this paper, we propose a novel sectorial fuzzy controller plus feedforward for the trajectory tracking control of robot manipulators. An outline of the stability proof via Lyapunov criterion of the proposed controller is given. Experimental results are presented in comparison to its classical counterpart: The Proportional-Derivative (PD) plus feedforward controller, from which this new proposal is based. The results obtained using the proposed controller indicate a better performance in terms of joint position error and tolerance to parametric variations.