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

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.

Prediction and Control of Input and Output for Industry–University–Research Collaboration Network in Construction Industry

“…Some scholars have designed feedback controllers in fields such as high-speed motors of electromagnetic bearings [16], tires [17], and a tracking system for upper limb rehabilitation [18]. Some other scholars have applied the feedforward control strategy in the stack power demand [19] and joint-space robot [20]. Although the feedback control model is simple to design and performs well in controlling, it fails to work when the control system is affected by latency, which would degrade the control performance of the system and lead to instability [21,22].…”

Investigation of X and Y Configuration Modal and Dynamic Response to Velocity Excitation of the Nanometer Resolution Linear Servo Motor Stage with Quasi-Industrial Guiding System in Quasi-Stable State

“…Response of current amplifier to certain current excitation have rise time and overshoot which might be neglected. Dead time in PWM amplifier is ignored; (7) The moving mass is constant and amplifier bus voltage is constant; (8) Environment conditions are constant and well controlled; (9) Ironless BLDC motor have three symmetric phases. All phases of the motor are perfectly symmetrical.…”

“…From Figure 4, we can observe that the experimentally determined behaviour of the real PLANT has a set of the eigenfrequencies that can have an influence on the whole stability, dynamic displacement error, settling time and settling window of LMS. Usually, 6) and (7).…”

“…High throughput and continuous scanning or trajectory positioning modes are required for medical, microscopy, micromachining, marking, and 3D printing applications. Due to these factors, the application of the linear motor stages has increased in the past few years [2][3][4][5][6][7][8][9][10]. Direct drive mechanisms are mandatory if there are requirements to minimize the static and dynamic errors of the displacement [11,12] ensure nanometer reputability.…”

“…Figure 4. Frequency response functions of the plant: red are experimentally identified FRFL PLANT,X ,L PLANT,Y and green is FRF of the theoretical transfer functions H PLANT,X , H PLANT,Y given in Equations (6) and(7).…”