Friday 23rd of February 2018

Backstepping Adaptive Fuzzy Control for two-link robot manipulator

, Yongqiao Wei, , Jingdong Zhang, , Li Hou, , Fenglan Jia, and Qinglin Chang

In this paper, based on hyapunov method, a backstepping adaptive fuzzy control scheme is presented for the two-link robot manipulator system. The control strategy consists of the traditional backstepping control and adaptive fuzzy control to cope with the model unknown and parameter disturbances.The simulation is presented to verify the effectiveness of the proposed control scheme. From the simulation results ,fast response, strong robustness, good disturbance rejection capability and good angle tracking capability can be obtained. The output tracking error between the actual position output and the desired position output can asymptotically converge to zero. It is also revealed from simulation results that the proposed control strategy is valid for the two-link robot manipulator.

Keywords: Backstepping control, Adaptive Fuzzy control, Two-link robot manipulator, MATLAB simulation

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Yongqiao Wei
Yongqiao Wei received the B.Sc. degree from Sichuan University,Chengdu,China, in 2012 and he will receive a M.S. degree from Sichuan University, in 2015, in Mechanical design and theory.Now he is a student in Mechanical design and theory of Sichuan University.

Jingdong Zhang
Jingdong Zhang received an M.S. degree from Kunming University of Science and Technology,Kunming,China,in 2012.He is now a Associate professor.His research interests cover mechanical transmission,intelligent controland CAD/CAPP/CAM/PMD.

Li Hou
Li Hou received an M.S. degree from Chongqing University,Chongqing,China, in 1992 and a Ph.D. Degree from Sichuan University in 2000.He is now a professor and PhD supervisor at Sichuan University.His research interests cover mechanical transmission, intelligent control and embedded systems and CAD/ CAPP/CAM/PMD.

Fenglan Jia
Fenglan Jia received the B.Sc. degree from Qingdao University of technology,Qingdao,Chian,in 2012 and she will receive a M.S. degree from Sichuan University,in 2015,in Mechanical design theory.Now she is a student in the Mechatronics of Sichuan University.

Qinglin Chang
Qinglin Chang received the from Sichuan University, Chengdu, China,in 2012.Now he is a student In the mechatronic engineering of Sichuan University.

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