Robust fuzzy logic controller for trajectory tracking of robotic systems

A robust fuzzy controller for the trajectory tracking of robotic systems is proposed. Adjusting the constant input and output gains of the fuzzy controller makes the tracking error of the robotic system uniformly ultimately bounded. The choice of the constant matrix gains for the fuzzy state variables for a simple case is given. It is shown that this choice caters for the presence of parameter variations and disturbances. In this case only the bounds over the inertia matrix and the bound over the variation of different dynamics are assumed known