@inproceedings{be44e2fd36244366a52f9c05a7b3afcf,
title = "Robust adaptive fuzzy output tracking control of uncertain robot system using backstepping design",
abstract = "To solve the tracking control of uncertain MIMO robot system, a method of robust adaptive fuzzy control based on backstepping is presented. This paper introduces fuzzy system to approximate complicated nonlinear functions. Compared with conventional backstepping control schemes, we do not require the unknown parameters to be linear parametrizable and do not require the differential of virtual control. The controller can provide robustness to all uncertainties. No nominal model of the robot or knowledge of the robot dynamics is required. The controller can be regarded as a universal reusable one because it can be applied to other n-link rigid robots without any modification. This method has been reported effective in simulations on two-link robot system.",
keywords = "Adaptive robust control, Backstepping, Fuzzy control, Robot manipulators",
author = "Jihong Qiao and Yaping Dai and Jinkun Liu and Hongyan Wang",
year = "2007",
doi = "10.1109/CHICC.2006.4347006",
language = "英语",
isbn = "7900719229",
series = "Proceedings of the 26th Chinese Control Conference, CCC 2007",
pages = "303--308",
booktitle = "Proceedings of the 26th Chinese Control Conference, CCC 2007",
note = "26th Chinese Control Conference, CCC 2007 ; Conference date: 26-07-2007 Through 31-07-2007",
}