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 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 asympto...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-03-01
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| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/9/6/616 |