Adaptive Fuzzy Backstepping Control Based on Dynamic Surface Control for Uncertain Robotic Manipulator

摘要

In the actual operation site, the dynamics of robotic manipulators is affected by two uncertainties, i.e., external disturbances and modeling errors. In this paper, an adaptive fuzzy backstepping controller based on dynamic surface control is proposed to track and control the robotic manipulator while considering both uncertainties and also making a distinction. Firstly, a feedback control technique is used to convert the robotic manipulator dynamics model into two first-order systems, and the control inputs to be designed are introduced. Secondly, the uncertain modeling errors are approximated using two fuzzy networks, and the external disturbances are assumed to be less than some upper limit. Thirdly, in order to weaken the traditional problem of “explosion of complexity” in the design of the adaptive backstepping controller, a dynamic surface control technique is used in this paper. Then, the stability of the designed controller is demonstrated using Lyapunov theory. Finally, simulations are performed with a two-linked robotic manipulator to show the effectiveness of the designed controller, and then, to show the superiority of the controller, simulation results are compared with the results obtained by other control algorithms.