Decentralized adaptive fuzzy backstepping control of rigid-link electrically driven robots

A decentralized fuzzy backstepping controller is proposed for the motion control of rigid-link electrically driven (RLED) robot. Fuzzy logic system are used to approximate the uncertainties of functions; such as, coupling forces among each joints, coriolis force, centrifugal force, gravitational force, frictional forces and parametric uncertainty of the 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 based on a Lyapunov synthesis approach. Numerical simulations results for a three-axis robot manipulator are included to show the effectiveness of proposed controller.