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An Adaptive Fuzzy Backstepping Approach to Robust Tracking Control of a Single-Link Flexible Joint Robot  

김은태 (연세대학교 전기전자공학부)
이희진 (국립 한경대학교 정보제어공학과)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.41, no.4, 2004 , pp. 1-12 More about this Journal
Abstract
This paper presents an adaptive fuzzy backstepping (AFB) controller for a single-link flexible joint robot in the Presence of Parametric uncertainties and external disturbances. Adaptive fuzzy logic systems are used as universal approximators to counteract the model uncertainties coming from robot dynamics and to compensate for the nonlinearities coming from adaptive backstepping method. The approach suggested herein does not require neither an additional supervisory nor a robustifying controller and guarantees that tracking error is uniformly ultimately bounded (UUB) within a sufficiently small residual set. Finally, a simulation result is given to demonstrate the robust tracking performance of proposed design method.
Keywords
적응형 퍼지;유연관절 로봇;절대상시유계;백스테핑;
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