Fuzzy robust backstepping with estimation for the control of a robot manipulator

被引：10
|
作者：
Hacioglu, Yuksel [1 ]
Yagiz, Nurkan [1 ]
机构：
[1] Istanbul Univ Cerrahpasa, Dept Mech Engn, Fac Engn, TR-34320 Istanbul, Turkey
来源：
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL | 2019年 / 41卷 / 10期
关键词：
Robust backstepping control; fuzzy logic; external disturbance; parameter uncertainty; robot manipulator; LOGIC CONTROLLER; TRACKING CONTROL; SYSTEMS; DESIGN; IMPLEMENTATION;
D O I：
10.1177/0142331218814290
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 study, a new fuzzy robust backstepping controller with estimation is proposed for the control of a robot manipulator. Backstepping control is preferred because the Lyapunov function that is used in stability analysis and the feedback control law that is used for control purpose are defined systematically during controller design. Fuzzy logic units are designed to update the gains of the backstepping controller. Then, the proposed controller is applied to a robot manipulator that is to track a trajectory in a three-dimensional space while it is subjected to external disturbances and parameter variations. The numerical results demonstrate and verify the successful performance of the proposed controller.
引用
收藏
页码：2816 / 2825
页数：10
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