title: Global asymptotic stability of a tracking sectorial fuzzy controller for robot manipulators.
abstract: This paper shows that fuzzy control systems satisfying sectorial properties are effective for motion tracking control of robot manipulators. We propose a controller whose structure is composed by a sectorial fuzzy controller plus a full nonlinear robot dynamics compensation, in such a way that this structure leads to a very simple closed-loop system represented by an autonomous nonlinear differential equation. We demonstrate via Lyapunov theory, that the closed-loop system is globally asymptotically stable. Experimental results show the feasibility of the proposed controller.
authors.affiliation: Instituto Tecnológico de la Laguna, Torreón Coahuila, Mexico. vsantiba@italaguna.edu.mx
authors.forename: Victor
authors.initials: V
authors.lastname: Santibañez
authors.forename: Rafael
authors.initials: R
authors.lastname: Kelly
authors.forename: Miguel A
authors.initials: MA
authors.lastname: Llama