Journal of the Institute of Electronics Engineers of Korea SC (전자공학회논문지SC)

The Institute of Electronics and Information Engineers (대한전자공학회)
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An Adaptive Fuzzy Backstepping Approach to Robust Tracking Control of a Single-Link Flexible Joint Robot

적응형 퍼지 백스테핑 방식을 이용한 단일축 유연관절 로봇의 강인 제어

  • 김은태 (연세대학교 전기전자공학부) ;
  • 이희진 (국립 한경대학교 정보제어공학과)
  • Published : 2004.07.01
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Abstract

This paper presents an adaptive fuzzy backstepping (AFB) controller for a single-link flexible joint robot in the Presence of Parametric uncertainties and external disturbances. Adaptive fuzzy logic systems are used as universal approximators to counteract the model uncertainties coming from robot dynamics and to compensate for the nonlinearities coming from adaptive backstepping method. The approach suggested herein does not require neither an additional supervisory nor a robustifying controller and guarantees that tracking error is uniformly ultimately bounded (UUB) within a sufficiently small residual set. Finally, a simulation result is given to demonstrate the robust tracking performance of proposed design method.

본 논문에서는 적응 퍼지 백스테핑 알고리즘을 이용하여 단일축 유연관절 로봇을 제어하는 새로운 알고리즘을 제안한다. 퍼지시스템은 일반근사기로 사용하여 로봇과 제어기의 비선형성과 불확실성을 상쇄하는 역할을 한다. 제안한 알고리즘은 추가적인 교시 제어기를 필요로 하지 않으며 추적오차를 상시유계시키는 특성이 있다. 끝으로 컴퓨터 모의실험을 통하여 제안한 방식의 성능을 확인한다.

Keywords

References

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