Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator

被引：87
作者：
Chang, Wanmin [1 ]
Li, Yongming [2 ]
Tong, Shaocheng [1 ]
机构：
[1] Liaoning Univ Technol, Dept Coll Elect Engn, Jinzhou 121001, Peoples R China
[2] Liaoning Univ Technol, Dept Coll Sci, Jinzhou 121001, Peoples R China
来源：
IEEE-CAA JOURNAL OF AUTOMATICA SINICA | 2021年 / 8卷 / 12期
基金：
中国国家自然科学基金;
关键词：
Backstepping; Actuators; Fuzzy logic; Adaptive systems; Manipulator dynamics; Actuator saturation; backstepping design; command-filter technique; flexible robotic manipulator; fuzzy adaptive control; OUTPUT-FEEDBACK CONTROL; CONTROL DESIGN; JOINT ROBOT; SYSTEMS; EXOSKELETON; OBSERVER;
D O I：
10.1109/JAS.2017.7510886
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1923 / 1930
页数：8
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