Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Design of an Adaptive Fuzzy Backstepping Controller for a Single-Link Flexible-Joint Robot

단일 축 유연 관절 로봇의 적응 퍼지 백스테핑 제어기 설계

  • 김영태 (동국대학교 전기공학과)
  • Published : 2008.06.01
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Abstract

An adaptive fuzzy backstepping controller is proposed for the motion control for a single-link flexible-joint robot in the presence of parametric uncertainties. Fuzzy logic system is used to approximate the uncertainties of functions and a backstepping technique is employed to deal with the mismatched problem. A compensation controller is also employed to estimates the bound of approximation error so that the shattering effect of the control effort can be reduced. Thus the asymptotic stability of the closed loop control system can be obtained based on a Lyapunov synthesis approach. Numerical simulation results for a single-link flexible-joint robot are included to show the effectiveness of proposed controller.

Keywords

References

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