Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator |
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Authors: | Wanmin Chang Yongming Li Shaocheng Tong |
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Affiliation: | 1.Department of College of Electrical Engineering, Liaoning University of Technology, Jinzhou, 121001, China2.Department of College of Science, Liaoning University of Technology, Jinzhou, 121001, China |
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Abstract: | In this paper, an adaptive fuzzy state feedback control method is proposed for the single-link robotic manipulator system. The considered system contains unknown nonlinear function and actuator saturation. Fuzzy logic systems (FLSs) and a smooth function are used to approximate the unknown nonlinearities and the actuator saturation, respectively. By combining the command-filter technique with the backstepping design algorithm, a novel adaptive fuzzy tracking backstepping control method is developed. It is proved that the adaptive fuzzy control scheme can guarantee that all the variables in the closed-loop system are bounded, and the system output can track the given reference signal as close as possible. Simulation results are provided to illustrate the effectiveness of the proposed approach. |
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Keywords: | Actuator saturation backstepping design command-filter technique flexible robotic manipulator fuzzy adaptive control |
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