Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Design of an Adaptive Fuzzy Backstepping Controller for a Brush DC Motor Turning a Robotic Load

로봇부하 구동용 브러시 DC 모터의 적응 퍼지 백 스테핑 제어기 설계

  • 김영태 (동국대학교 전기공학과)
  • Published : 2006.09.01
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Abstract

In this paper a adaptive backstepping control scheme is proposed for control of a do motor driving a one-link manipulator. Fuzzy logic systems are used to approximate the unknown nonlinear function including the parametric uncertainty and disturbance throughout the entire electromechanical system. A compensation controller is also proposed to estimate the bound of approximation error. Thus the asymptotic stability of the closed-loop control system can be obtained. Numerical simulations are included to show the effectiveness of the proposed controller.

Keywords

References

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