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Design of an Adaptive Fuzzy Backstepping Controller for a Brush DC Motor Turning a Robotic Load  

Kim, Young-Tae (동국대학교 전기공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.23, no.9, 2006 , pp. 92-101 More about this Journal
Abstract
In this paper a adaptive backstepping control scheme is proposed for control of a do motor driving a one-link manipulator. Fuzzy logic systems are used to approximate the unknown nonlinear function including the parametric uncertainty and disturbance throughout the entire electromechanical system. A compensation controller is also proposed to estimate the bound of approximation error. Thus the asymptotic stability of the closed-loop control system can be obtained. Numerical simulations are included to show the effectiveness of the proposed controller.
Keywords
Fuzzy Control; Adaptive Control; Backstepping Control;
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