Adaptive fuzzy backstepping controller design for uncertain underactuated robotic systems

DOI10.1007/S11071-014-1753-YzbMath1345.93084OpenAlexW2024518559MaRDI QIDQ493964

Hamid Reza Koofigar, Mohammad Mahdi Azimi

Publication date: 7 September 2015

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-014-1753-y

zbMATH Keywords

fuzzy controlroboticsadaptive backsteppingunderactuated systemsexternal disturbance

Mathematics Subject Classification ID

Fuzzy control/observation systems (93C42) Nonlinear systems in control theory (93C10) Control/observation systems with incomplete information (93C41) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Control problems involving ordinary differential equations (34H05) Qualitative investigation and simulation of ordinary differential equation models (34C60) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (4)

Dynamic surface control with a nonlinear disturbance observer for multi‐degree of freedom underactuated mechanical systems ⋮ Adaptive neural network control of second-order underactuated systems with prescribed performance constraints ⋮ Adaptive fuzzy control of uncertain robotic manipulator ⋮ Design of fuzzy system-fuzzy neural network-backstepping control for complex robot system

Cites Work

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• Second‐order sliding mode control of underactuated mechanical systems II: Orbital stabilization of an inverted pendulum with application to swing up/balancing control
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