Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator
文献类型：期刊论文
| 作者 | Wanmin Chang; Yongming Li; Shaocheng Tong |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2021 |
| 卷号 | 8期号:12页码:1923-1930 |
| 关键词 | Actuator saturation backstepping design command-filter technique flexible robotic manipulator fuzzy adaptive control |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2017.7510886 |
| 英文摘要 | In this paper, an adaptive fuzzy state feedback control method is proposed for the single-link robotic manipulator system. The considered system contains unknown nonlinear function and actuator saturation. Fuzzy logic systems (FLSs) and a smooth function are used to approximate the unknown nonlinearities and the actuator saturation, respectively. By combining the command-filter technique with the backstepping design algorithm, a novel adaptive fuzzy tracking backstepping control method is developed. It is proved that the adaptive fuzzy control scheme can guarantee that all the variables in the closedloop system are bounded, and the system output can track the given reference signal as close as possible. Simulation results are provided to illustrate the effectiveness of the proposed approach. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/45403]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Wanmin Chang,Yongming Li,Shaocheng Tong. Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(12):1923-1930. |
| APA | Wanmin Chang,Yongming Li,&Shaocheng Tong.(2021).Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator.IEEE/CAA Journal of Automatica Sinica,8(12),1923-1930. |
| MLA | Wanmin Chang,et al."Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator".IEEE/CAA Journal of Automatica Sinica 8.12(2021):1923-1930. |
入库方式： OAI收割
来源：自动化研究所
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