Robust Adaptive Fuzzy Output Tracking Control of Uncertain Robot System Using Backstepping Design

作     者：Qiao Jihong1,3,Dai Yaping1,Liu Jinkun2,Wang Hongyan1,4 1.Department of Automatic Control,School of Information Science and Technology,Beijing Institute of Technology,Beijing 100081,P.R.China2.Department of Automatic Control,Beijing University of Aeronautics and Astronautics,Beijing 100083,P.R.China 3.College of Information Engineering,Beijing Technology and Business University,Beijing 100037,P.R.China 4.Department of Information Engineering,Academy of Armored Force Engineering,Beijing 100072,P.R.China 

会议名称：《第二十六届中国控制会议》

会议日期：2007年

学科分类：0711[理学-系统科学] 07[理学] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

关 键 词：Adaptive Robust Control Backstepping Fuzzy Control Robot Manipulators. 

摘      要：To solve the tracking control of uncertain MIMO robot system,a method of robust adaptive fuzzy control based on backstepping is *** paper introduces fuzzy system to approximate complicated nonlinear *** with conventional backstepping control schemes,we do not require the unknown parameters to be linear parametrizable and do not require the differential of virtual *** controller can provide robustness to all *** nominal model of the robot or knowledge of the robot dynamics is *** controller can be regarded as a universal reusable one be-cause it can be applied to other n-link rigid robots without any *** method has been reported effective in simu-lations on two-link robot system.