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

Author

Kim, Y.T.

Author_Institution

Dept. of Electr. Eng., Dongguk Univ., Seoul, South Korea

Volume

3

fYear

2005

fDate

10-12 Oct. 2005

Firstpage

2061

Abstract

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.

Keywords

Lyapunov methods; adaptive control; compensation; control system synthesis; decentralised control; error analysis; function approximation; fuzzy control; manipulators; motion control; Lyapunov synthesis; approximation error estimation; asymptotic stability; closed-loop control system; compensation controller; decentralized adaptive fuzzy backstepping control; fuzzy logic system; motion control; rigid-link electrically driven robot; three-axis robot manipulator; Adaptive control; Backstepping; Control system synthesis; Fuzzy control; Fuzzy logic; Gravity; Motion control; Programmable control; Robots; Uncertainty; Adaptive control; Backstepping control; Decentralized control; Fuzzy control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2005 IEEE International Conference on

Print_ISBN

0-7803-9298-1

Type

conf

DOI

10.1109/ICSMC.2005.1571452

Filename

1571452