DECENTRALIZED ADAPTIVE FUZZY BACKSTEPPING CONTROL OF RIGID-LINK ELECTRICALLY DRIVEN ROBOTS

被引：0
作者：
Kim, Y. T. [1 ]
机构：
[1] Dongguk Univ, Dept Elect Engn, Seoul, South Korea
来源：
INTELLIGENT AUTOMATION AND SOFT COMPUTING | 2010年 / 16卷 / 02期
关键词：
Fuzzy control; Adaptive control; Backstepping control; Decentralized control; SYSTEMS;
D O I：
10.1080/10798587.2010.10643070
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A decentralized fuzzy backstepping controller is proposed for the motion control of a rigid-link electrically driven (RLED) robot. Fuzzy logic systems are used to approximate the uncertainties of functions; such as, coupling forces among joints, Coriolis force, centrifugal force, gravitational force, frictional forces and parametric uncertainty of the electromechanical system. A compensation controller is also proposed to estimate the bound of approximation error. Thus the asymptotic stability of the closed-loop control system can be obtained based on a Lyapunov synthesis approach. Numerical simulations results for a three-axis robot manipulator are included to show the effectiveness of the proposed controller.
引用
收藏
页码：135 / 149
页数：15
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