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Adaptive fuzzy backstepping output constraint control of flexible manipulator with actuator saturation

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Abstract

This paper deals with the problem of adaptive fuzzy tracking control for a single-link robotic manipulator coupled to a brushed direct current motor with actuator saturation. Fuzzy logic systems are used to approximate the unknown nonlinear systems. The filtered signals are introduced to eliminate the interference of high-frequency signals. The virtual/actual control inputs are derived from the solutions of a series of dynamical equations. Under the framework of the backstepping control design, an observer-based output feedback control design scheme is proposed. It is proved that the control approach can guarantee that all the signals in the closed-loop system are bounded.

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Acknowledgments

This work was supported by the National Natural Science Foundation of China (Nos. 61573175, 61374113).

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Authors and Affiliations

  1. College of Electrical Engineering, Liaoning University of Technology, Jinzhou, 121001, Liaoning, People’s Republic of China

    Wanmin Chang & Shaocheng Tong

  2. College of Science, Liaoning University of Technology, Jinzhou, 121001, Liaoning, People’s Republic of China

    Shaocheng Tong & Yongming Li

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  1. Wanmin Chang
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  2. Shaocheng Tong
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  3. Yongming Li
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Correspondence to Yongming Li.

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Chang, W., Tong, S. & Li, Y. Adaptive fuzzy backstepping output constraint control of flexible manipulator with actuator saturation. Neural Comput & Applic 28 (Suppl 1), 1165–1175 (2017). https://doi.org/10.1007/s00521-016-2425-2

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  • DOI: https://doi.org/10.1007/s00521-016-2425-2

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