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

Abstract

To solve the tracking control of uncertain MIMO robot system, a method of robust adaptive fuzzy control based on backstepping is presented. This paper introduces fuzzy system to approximate complicated nonlinear functions. Compared with conventional backstepping control schemes, we do not require the unknown parameters to be linear parametrizable and do not require the differential of virtual control. The controller can provide robustness to all uncertainties. No nominal model of the robot or knowledge of the robot dynamics is required. The controller can be regarded as a universal reusable one because it can be applied to other n-link rigid robots without any modification. This method has been reported effective in simulations on two-link robot system.