Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator

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 closed-loop 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.

Automated summary

An adaptive fuzzy state feedback control method is proposed for a single-link robotic manipulator system with unknown nonlinear function and actuator saturation. The method uses fuzzy logic systems and a smooth function to approximate the unknown nonlinearities and actuator saturation. By combining command-filter technique with backstepping design algorithm, a novel control method is developed to guarantee stability and output tracking performance of the system.