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Adaptive fuzzy output feedback control for a single-link flexible robot manipulator driven DC motor via backstepping. (English) Zbl 1254.93100

Summary: In this paper, an adaptive fuzzy output feedback approach is proposed for a single-link robotic manipulator coupled to a brushed Direct Current (DC) motor with a nonrigid joint. The controller is designed to compensate for the nonlinear dynamics associated with the mechanical subsystem and the electrical subsystems while only requiring the measurements of link position. Using fuzzy logic systems to approximate the unknown nonlinearities, an adaptive fuzzy filter observer is designed to estimate the immeasurable states. By combining the adaptive backstepping and Dynamic Surface Control (DSC) techniques, an adaptive fuzzy output feedback control approach is developed. Stability proof of the overall closed-loop system is given via the direct Lyapunov method. Three key advantages of our scheme are as follows: (i) the proposed adaptive fuzzy control approach does not require that all the states of the system be measured directly, (ii) the proposed control approach can solve the control problem of robotic manipulators with unknown nonlinear uncertainties, and (iii) the problem of “explosion of complexity” existing in the conventional backstepping control methods is avoided. The detailed simulation results are provided to demonstrate the effectiveness of the proposed controller.

MSC:

93C42 Fuzzy control/observation systems
93C85 Automated systems (robots, etc.) in control theory
93C40 Adaptive control/observation systems
93D05 Lyapunov and other classical stabilities (Lagrange, Poisson, \(L^p, l^p\), etc.) in control theory
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