Brief communication: Uniform ultimate boundedness of a fuzzy logic controlled industrial robot

Abstract

Abstract This article addresses the proof of uniform ultimate boundedness of a fuzzy logic controller plus a computed torque control scheme applied to trajectory tracking control of robotic manipulators. Further improvement of the performance of this fuzzy logic control scheme is achieved through automatic tuning of a weight parameter α leading to a self‐tuning fuzzy logic compensator. Experimental results demonstrate the effectiveness of the computed torque and fuzzy compensation scheme, as well as the self‐tuning fuzzy logic controller, applied to an industrial CRS Robotics Corporation A460 robot during a trajectory tracking task. © 2001 John Wiley & Sons, Inc.