Browse > Article

Design of an Adaptive Fuzzy Backstepping Controller for a Single-Link Flexible-Joint Robot  

Kim, Young-Tae (동국대학교 전기공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.25, no.6, 2008 , pp. 62-70 More about this Journal
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
Fuzzy Control; Adaptive Control; Backstepping Control; Flexible Joint Robot Control;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Huang, A. C. and Chen, Y. C, "Adaptive Sliding Control for Single-Link Flexible-Joint Robot with Mismatched Uncertainties," IEEE Trans. on Control Systems Technology, Vol. 12, No. 5, pp. 770-775, 2004   DOI   ScienceOn
2 Tenreiro Machado, J. A., "Variable Structure Control of Manipulators with Compliant Joints," Proc. IEEE. Int. Conf. Ind. Electron., pp. 554-559, 1993
3 Oh, J. H. and Lee, J. S., "Control of Flexible Joint Robot System by Backstepping Design Approach," Proc. IEEE. Int. Conf. on Robotics and Automation, pp. 3435-3440, 1997
4 Kim, E. T. and Lee, H. J., "An Adaptive Fuzzy Backstepping Approach to Robust Tracking Control of a Single Link Flexible Joint Robot," Journal of the Korean Society of Electronic Engineering, Vol. 41, No. 4, pp. 177-188, 2004
5 Lee, C. C., "Fuzzy logic in control systems: Fuzzy logic controller, parts I and II," IEEE Trans. Systems, Man, and Cybernetics, Vol. 20, No. 2, pp. 404-435, 1990   DOI   ScienceOn
6 Spong, M., "Modeling and control of elastic joint robots," J. Dynamic system, Measure; contr., Vol. 109, No. 4, pp. 310-319, 1987   DOI
7 Macnab, C. J. B., Eleuterio, G. M. T. and Meng, M., "CMAC Adaptive Control of Flexible-Joint Robots Using Backstepping with Tuning Functions," Proc. IEE Int. Conf. Robot Autom., Vol. 3, pp. 2679-2686, 2004
8 Park, J. H. and Lee, S. B., "Self-Organizing Fuzzy Control of a Flexible Joint Manipulator," Journal of the Korean Society of Precision Engineering, Vol. 12, No. 8, pp. 92-98, 1995
9 Goo, C. W., Lee, S. B. and Kim, J. S., "Adaptive Neural Network Control of a Flexible Joint Manipulator," Spring Conference of the Korean Society of Precision Engineering, pp. 101-106, 1997
10 Wang, L. X. and Mendel, J. M., "Fuzzy Basis Functions, Universal Approximation, and Orthogonal Least Squares Learning," IEEE Trans. Neural Networks, Vol. 3, No. 5, pp. 807-814, 1992   DOI   ScienceOn
11 Han, M. C., "Robust Control Design for Robots with Uncertainty and Joint Flexibility," Journal of the Korean Society of Precision Engineering, Vol. 12, No. 5, pp. 117-125, 1995   과학기술학회마을
12 Park, C. W. and Cho, Y. W., "Adaptive Tracking Control of Flexible Joint Manipulator Based on Fuzzy Model Reference Approach," Proc. Inst. Elect. Eng. - control theory appl:, Vol. 150, No. 2, pp. 198-204, 2003   DOI   ScienceOn
13 Kwan, C. and Lewis, F. L., "Robust Backstepping Control of Nonlinear Systems Using Neural Networks," IEEE, Vol. 30, No. 6, pp. 753-766, 2000
14 Gurkan, E., Banks, S. P. and Erkmen, I., "Stable Controller Design for the T-S Fuzzy Model of A Flexible-Joint Robot Arm Based on Lie Algebra," Proc. IEEE Conf. Decision Control, pp. 4717-4722, 2003
15 Krstic, M., Kanellakopoulos, I. and Kokotovic, P., "Nonlinear adaptive control design," John Wiley & Sons, 1995
16 Spong, M., "Adaptive Control of Flexible-Joint Manipulators: comments on two papers," Automatica, Vol. 31, No. 4, pp. 585-590, 1995   DOI   ScienceOn
17 Zadeh, L. A., "Outline of a new approach to the analysis of complex systems and decision processes," IEEE Trans. Systems, Man, Cybernetics, Vol. SMC-3, No. 1, pp. 28-44, 1973   DOI
18 22. Yang, Y., Feng, G. and Ren, J., "A Combined Backstepping and Small-Gain Approach to Robust Adaptive Fuzzy Control for Strict Feedback Nonlinear Systems," IEEE Trans. on SMC - part A: Systems and Humans, Vol. 34, No. 3, pp. 406-420, 2004   DOI   ScienceOn
19 Tomei, P., "A Simple PD Controller for Robots with Elastic Joints," IEEE Trans. Autom, control, Vol. 36, No. 10, pp. 1208-1213, 1991   DOI   ScienceOn
20 Slotine, J. E. and Li, W., "Applied Nonlinear Control," Englewood Cliffs, Prentice-Hall, 1991
21 Zeman, V., Patel, R. V. and Khorasani, K., "Control of A Flexible-Joint Robot Using Neural Networks," IEEE Trans. on Control Systems Technology, Vol. 5, No. 4, pp. 453-462, 1997   DOI   ScienceOn
22 Ge, S. S., "Adaptive Controller Design for Flexible-Joint Manipulators," Automatica, Vol. 32, No. 2 , pp. 273-278, 1996   DOI   ScienceOn
23 Chatlatanagulchai, W. and Meckl, P. H., "Motion Control of Two-Link Flexible-Joint Robot, Using Backstepping, Neural Networks, and Indirct Method," Proc. IEEE Conf. on Control applications, pp. 601-605, 2005