Fuzzy adaptive dynamic surface control with prescribed performance for a single-link flexible-joint robot

被引：0
|
作者：
Zhang, Lili [1 ]
Tong, Shaocheng [1 ]
Li, Yongming [1 ]
机构：
[1] Department of Basic Mathematics, Liaoning University of Technology, No. 169, Shiying Street, Guta District, Jinzhou, China
来源：
ICIC Express Letters, Part B: Applications | 2015年 / 6卷 / 08期
关键词：
Flexible manipulators - Fuzzy logic - Machine design - Adaptive control systems - Backstepping - Robots;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper, a fuzzy adaptive dynamic surface control (DSC) design with prescribed performance is investigated for a single-link flexible-joint robot. The fuzzy logic systems are used to model the unknown nonlinear system, and a fuzzy state observer is designed to estimate the immeasurable states. By combining the adaptive backstepping design with DSC technique, a fuzzy adaptive output-feedback backstepping control approach is developed. It is proved that the proposed control approach can guarantee that all the signals of the resulting closed-loop system are bounded, and the dynamic surface errors are confined within the prescribed bounds for all times. © 2015, ICIC International.
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页码：2235 / 2241
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