Adaptive fuzzy backstepping output constraint control of flexible manipulator with actuator saturation

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

来源：Neural Computing & Applications, 2017, 28(S1): S1165-S1175.

DOI：10.1007/s00521-016-2425-2

• Single-link flexible robotic manipulator
• Fuzzy adaptive control
• State observer
• Actuator saturation
• Output constraints
• Backstepping technique

This paper deals with the problem of adaptive fuzzy tracking control for a single-link robotic manipulator coupled to a brushed direct current motor with actuator saturation. Fuzzy logic systems are used to approximate the unknown nonlinear systems. The filtered signals are introduced to eliminate the interference of high-frequency signals. The virtual/actual control inputs are derived from the solutions of a series of dynamical equations. Under the framework of the backstepping control design, an observer-based output feedback control design scheme is proposed. It is proved that the control approach can guarantee that all the signals in the closed-loop system are bounded.

• 出版日期2017-12
• 单位辽宁工业大学