Design of adaptive fuzzy backstepping control algorithm for multi-joint series manipulator | |
Ma, Yuhao1; Liang, Yanbing2 | |
2019 | |
会议名称 | 5th International Conference on Mechatronics and Robotics Engineering, ICMRE 2019 |
会议录名称 | ACM International Conference Proceeding Series |
卷号 | Part F147614 |
页码 | 161-166 |
会议日期 | 2019-02-16 |
会议地点 | Rome, Italy |
出版者 | Association for Computing Machinery |
产权排序 | 1 |
摘要 | As the brain of manipulators, the control system is the core part which directly affects the overall performance indicators of manipulators, such as control precision, robustness and the ability of autonomous decision-making, etc. From the perspective of cybernetics, multi-joint series manipulator is a complicated multiple-input multiple-output (MIMO) system which is characterized by nonlinearity, time variation, strong coupling and uncertainty. As a result, traditional methods have poor control efficiency on multi-joint manipulator. To solve the above problems, an adaptive fuzzy backstepping controller is designed in this paper. First, the complex nonlinear system is decomposed into several subsystems with inversion method, and the virtual control for each of them is adopted until the whole design of the control law is completed. Then, the model information of manipulator is approximated with adaptive fuzzy system, which realizes the model-free control and reduces the uncertain influence of external disturbance. Finally, the controller can make the manipulator to track a predetermined trajectory. What's more, the adaptive fuzzy backstepping control algorithm and the simple backstepping control algorithm are simulated by MATLAB SIMULINK, respectively. The results show that the adaptive fuzzy backstepping control algorithm greatly reduces the trajectory tracking error and achieves high precision control of the manipulator. © 2019 Association for Computing Machinery. |
关键词 | adaptive fuzzy control backstepping control series manipulator MATLAB/SIMULINK |
作者部门 | 光电跟踪与测量技术研究室 |
DOI | 10.1145/3314493.3318457 |
收录类别 | EI ; CPCI |
语种 | 英语 |
WOS记录号 | WOS:000473802700032 |
EI入藏号 | 20191906897056 |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | http://ir.opt.ac.cn/handle/181661/31406 |
专题 | 光电跟踪与测量技术研究室 |
作者单位 | 1.Xi'an Institute of Optics and Precision Mechanics of CAS 2, University of Chinese, Academy of Sciences, No. 17 Xinxi Avenue, Chang'an District, Xi'an, Shannxi, China; 2.Xi'an Institute of Optics and Precision Mechanics of CAS, No. 17 Xinxi Avenue, Chang'an District, Xi'an, Shannxi, China |
推荐引用方式 GB/T 7714 | Ma, Yuhao,Liang, Yanbing. Design of adaptive fuzzy backstepping control algorithm for multi-joint series manipulator[C]:Association for Computing Machinery,2019:161-166. |
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