Title :
Robust Adaptive Fuzzy Output Tracking Control of Uncertain Robot System Using Backstepping Design
Author :
Jihong, Qiao ; Yaping, Dai ; Jinkun, Liu ; Hongyan, Wang
Author_Institution :
Beijing Inst. of Technol., Beijing
Abstract :
To solve the tracking control of uncertain MIMO robot system, a method of robust adaptive fuzzy control based on backstepping is presented. This paper introduces fuzzy system to approximate complicated nonlinear functions. Compared with conventional backstepping control schemes, we do not require the unknown parameters to be linear parametrizable and do not require the differential of virtual control. The controller can provide robustness to all uncertainties. No nominal model of the robot or knowledge of the robot dynamics is required. The controller can be regarded as a universal reusable one because it can be applied to other n-link rigid robots without any modification. This method has been reported effective in simulations on two-link robot system.
Keywords :
MIMO systems; adaptive control; control system synthesis; fuzzy control; nonlinear control systems; robots; robust control; uncertain systems; MIMO robot system; backstepping design; complicated nonlinear functions; fuzzy system; robot dynamics; robust adaptive fuzzy output tracking control; uncertain robot system; virtual control; Adaptive control; Backstepping; Control systems; Fuzzy control; Fuzzy systems; MIMO; Programmable control; Robot control; Robust control; Uncertainty; Adaptive Robust Control; Backstepping; Fuzzy Control; Robot Manipulators;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347006
