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Adaptive Fuzzy Finite-Time Command-Filtered Backstepping Control of Flexible-Joint Robots

Published online by Cambridge University Press:  02 October 2020

Roger Datouo ,
Joseph Jean-Baptiste Mvogo Ahanda Open the ORCID record for Joseph Jean-Baptiste Mvogo Ahanda [Opens in a new window] ,
Achille Melingui ,
Frédéric Biya-Motto  and
Bernard Essimbi Zobo
Roger Datouo
Affiliation:
Laboratory of Electronics, Department of Physics, Faculty of Science, University of Yaoundé I, P. O. Box: 812 Yaoundé, Cameroon E-mails: rdatouo@gmail.com, biyamotto@yahoo.fr, bessimb@yahoo.fr
Joseph Jean-Baptiste Mvogo Ahanda*
Affiliation:
Electrical and Power Engineering, Department of Higher Technical Teachers Training College, the University of Bamenda, P.O. Box: 39 Bambili, NW Region, Cameroon
Achille Melingui
Affiliation:
Electrical and Telecommunications Engineering, Department of Ecole Nationale Supérieure Polytechnique, the University of Yaoundé 1, P.O. Box: 8390 Yaoundé, Cameroon E-mail: achille.melingui@yahoo.fr
Frédéric Biya-Motto
Affiliation:
Laboratory of Electronics, Department of Physics, Faculty of Science, University of Yaoundé I, P. O. Box: 812 Yaoundé, Cameroon E-mails: rdatouo@gmail.com, biyamotto@yahoo.fr, bessimb@yahoo.fr
Bernard Essimbi Zobo
Affiliation:
Laboratory of Electronics, Department of Physics, Faculty of Science, University of Yaoundé I, P. O. Box: 812 Yaoundé, Cameroon E-mails: rdatouo@gmail.com, biyamotto@yahoo.fr, bessimb@yahoo.fr
*
*Corresponding author. E-mail: josephjeanmvogo@yahoo.fr
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Summary

The problem of finite-time tracking control for n-link flexible-joint robot manipulators is addressed. An adaptive fuzzy finite-time command-filtered backstepping control scheme is presented to solve the following problems: “explosion of terms” problem, finite-time stabilization of the closed-loop system, and the reduction of computational cost. To this end, new virtual adaptive control signals and new finite-time error compensation mechanism are constructed using inherent properties of robot manipulator systems. Based on the Lyapunov theory, the finite-time stabilization of the closed-loop system is proved. Simulation studies show the effectiveness of the proposed method.

Keywords

Adaptive backstepping controlFinite-time command-filtered controlFuzzy logic systemFlexible-joint robot

Information

Type
Article
Information
Robotica , Volume 39 , Issue 6 , June 2021 , pp. 1081 - 1100
Copyright
© The Author(s), 2020. Published by Cambridge University Press

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