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

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