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Volume 6 Issue 1
Jan.  2019

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Song Ling, Huanqing Wang and Peter X. Liu, "Adaptive Fuzzy Dynamic Surface Control of Flexible-Joint Robot Systems With Input Saturation," IEEE/CAA J. Autom. Sinica, vol. 6, no. 1, pp. 97-107, Jan. 2019. doi: 10.1109/JAS.2019.1911330
Citation: Song Ling, Huanqing Wang and Peter X. Liu, "Adaptive Fuzzy Dynamic Surface Control of Flexible-Joint Robot Systems With Input Saturation," IEEE/CAA J. Autom. Sinica, vol. 6, no. 1, pp. 97-107, Jan. 2019. doi: 10.1109/JAS.2019.1911330

Adaptive Fuzzy Dynamic Surface Control of Flexible-Joint Robot Systems With Input Saturation

doi: 10.1109/JAS.2019.1911330
Funds:

the National Natural Science Foundation of China 61773051

the National Natural Science Foundation of China 61773072

the National Natural Science Foundation of China 61761166011

the Fundamental Research Fund for the Central Universities 2016RC021

the Fundamental Research Fund for the Central Universities 2017JBZ003

More Information
  • In this paper, we propose an adaptive fuzzy dynamic surface control (DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal with the difficulties associated with input saturation. An adaptive DSC design with an auxiliary first-order filter is used to solve the "explosion of complexity" problem. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The main advantage of the proposed method is that only one adaptation parameter needs to be updated, which reduces the computational burden significantly. Simulation results demonstrate the feasibility of the proposed scheme and the comparison results show that the improved DSC method can reduce the computational burden by almost two thirds in comparison with the standard DSC method.

     

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