Improved Fuzzy Backstepping Position Tracking Control for Manipulator Driven by PMSM

摘要

In this article, the position tracking control problem of manipulators driven by permanent magnet synchronous motor (PMSM) is investigated. The robot system exists problems of the uncertain parameters and external disturbances. Based on backstepping method, a fuzzy logic approach serves to approximation the unknown system nonlinearity. On the one hand, the improved fuzzy backstepping strategy is applied to follow the trail of the desired trajectory more precise and robust. On the other hand, fuzzy membership function is modified for solving the problem traditional fuzzy control cannot eliminate steady-state error. Simulation results demonstrate that the control method has superior accuracy and ideal performance.