Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator

doi:10.1109/JAS.2017.7510886

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator
	Wanmin Chang; Yongming Li; Shaocheng Tong
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2021
卷号	8 期号:12 页码:1923-1930
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 closedloop 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.
关键词	Actuator saturation backstepping design command-filter technique flexible robotic manipulator fuzzy adaptive control
DOI	10.1109/JAS.2017.7510886
引用统计	被引频次：62[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/45403
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Wanmin Chang,Yongming Li,Shaocheng Tong. Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(12):1923-1930.
APA	Wanmin Chang,Yongming Li,&Shaocheng Tong.(2021).Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator.IEEE/CAA Journal of Automatica Sinica,8(12),1923-1930.
MLA	Wanmin Chang,et al."Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator".IEEE/CAA Journal of Automatica Sinica 8.12(2021):1923-1930.

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