Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator  

作　　者：Wanmin Chang Yongming Li Shaocheng Tong 

机构地区：[1]Department of College of Electrical Engineering,Liaoning University of Technology,Jinzhou,121001,China [2]Department of College of Science,Liaoning University of Technology,Jinzhou,121001,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2021年第12期1923-1930,共8页自动化学报（英文版）

基　　金：This work was supported by the National Natural Science Foundation of China(61573175,61374113);Liaoning BaiQianWan Talents Program.

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 nonlinearfunction and actuator saturation.Fuzzy logic systems(FLSs)and a smooth function are used to approximate the unknownnonlinearities and the actuator saturation,respectively.By com-bining the command-filter technique with the backsteppingdesign algorithm,a novel adaptive fuuzy tracking backsteppingcontrol method is developed.It is proved that the adaptive fuuzycontrol scheme can guarantee that all the variables in the closed-loop system are bounded,and the system output can track thegiven reference signal as close as possible.Simulation results areprovided to illustrate the effectiveness of the proposed approach.

关 键 词：Actuator saturation backstepping design command-filter technique flexible robotic manipulator fuzzy adaptive control 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP241[自动化与计算机技术—控制科学与工程]