Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator

作者：Chang, Wanmin; Li, Yongming^*; Tong, Shaocheng

来源：IEEE/CAA Journal of Automatica Sinica, 2021, 8(12): 1923-1930.

DOI：10.1109/JAS.2017.7510886

• Backstepping
• Actuators
• Fuzzy logic
• Adaptive systems
• Manipulator dynamics
• Actuator saturation
• backstepping design
• command-filter technique
• flexible robotic manipulator
• fuzzy adaptive control

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.

• 出版日期2021-12
• 单位辽宁工业大学