Artificial Error Tuning Based on Design a Novel SISO Fuzzy Backstepping Adaptive Variable Structure Control

摘要

This paper examines single input single output (SISO) chattering free variab le structure control (VSC) which controller coefficient is on-line tuned by fuzzy backstepping algorith m to control of continuum robot man ipulator. Variable structure methodology is selected as a framework to construct the control law and address the stability and robustness of the close loop system based on Lyapunove formu lation. The main goal is to guarantee acceptable error result and adjust the trajectory following. The proposed approach effectively combines the design technique from variab le structure controller is based on Lyapunov and modified Proportional p lus Derivative (P+D) fu zzy estimator to estimate the nonlinearity of undefined system dynamic in backstepping controller. The input represents the function between variable structure function, error and the modified rate of error. The outputs represent joint torque, respectively. The fuzzy backstepping methodology is on-line tune the variable structure function based on adaptive methodology. The performance of the SISO VSC based on-line tuned by fuzzy backstepping algorithm (FBSA VSC) is validated through comparison with VSC. Simu lation results signify good performance of trajectory in presence of uncertainty joint torque load.