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Control of an industrial robot includes nonlinearities, uncertainties and external perturbations that should be considered in the design of control laws. Inverse dynamics control is a well-known conventional motion control strategy for manipulators which ensures global asymptotic stability for fixed symmetric positive definite (proportional and derivative) gain matrices. In this paper, a supervisory hierarchical fuzzy controller (SHFC) for tuning the Proportional and Derivative gains according to the actual tracking position error and the actual tracking velocity error. Numerical simulations using the dynamic model of three DOF planar rigid robot with uncertainties show the effectiveness of the approach in trajectory tracking problems. Performance indices i.e. integral absolute error (IAE) and integral time multiplied absolute error (ITAE) are used for comparison.