Adaptive backstepping fast terminal fuzzy sliding mode control for reconfigurable manipulators based on bio inspired strategies

In order to solve the joints velocity jumping of reconfigurable manipulator caused by the state jump , a adaptive backstepping fast terminal fuzzy sliding mode controller based on the bio inspired strategies is designed. Fuzzy system is used to approximate the uncertain terms and the coupling terms among the subsystems, when the desired trajectory occurs big jump, in order to overcome the virtual speed jump caused by position jump in conventional backstepping control method, the virtual intermediate speed variable is got through the introduction of bio inspired model, and use it to replace the trajectory tracking error in the control law that makes trajectory tracking output still smooth when trajectory occurs jump. The method without changing the control parameters can be used indifferent configurations reconfigurable manipulator. Finally, through the simulation of different configurations for reconfigurable manipulator verify the conclusion.