로봇부하 구동용 브러시 DC 모터의 적응 퍼지 백 스테핑 제어기 설계

In this paper a adaptive backstepping control scheme is proposed for control of a de 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.