Adaptive Fuzzy Tracking Control of Flexible-Joint Robots With Full-State Constraints

This paper reports our study on adaptive fuzzy tracking control for flexible-joint robots with full state constraints. In the control design, fuzzy systems are adopted to identify the totally unknown nonlinear functions and can properly avoid burdensome computations. The tan-type barrier Lyapunov fu...

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Veröffentlicht in:	IEEE transactions on systems, man, and cybernetics. Systems man, and cybernetics. Systems, 2019-11, Vol.49 (11), p.2201-2209
Hauptverfasser:	Sun, Wei, Su, Shun-Feng, Xia, Jianwei, Nguyen, Van-Truong
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control Adaptive fuzzy tracking control Adaptive systems Backstepping barrier Lyapunov functions (BLFs) Computer simulation Control design Controllers flexible-joint (FJ) robots full state constraints Fuzzy control Fuzzy systems Liapunov functions Nonlinear systems Robot control Robots Sun Tracking control Tracking errors
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