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

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.