Fuzzy adaptive backstepping control of a two degree of freedom parallel robot

Authors:
Xiaoping Liu;Angelo Liadis
Affiliations:
Faculty of Engineering, Lakehead University, Thunder Bay, Ontario, Canada;Faculty of Engineering, Lakehead University, Thunder Bay, Ontario, Canada
Venue:
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
Year:
2012

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Abstract

This paper proposes three fuzzy adaptive controller design methods based on the backstepping design technique. In the first method, the original parameters in a fuzzy logic system are updated real-time, on the other hand, in the second and third methods, the square of the norm of the original parameters is used as an unknown parameter. The third method utilizes the fact that the norm of the fuzzy logic system is less than or equal to one and the resulting controller is independent of the fuzzy logic system. The three methods were tested on the two-degree-of-freedom robot which was custom-made. The test results show that all three methods work and the first method works better than the other two methods with and without loads because it involves no simplification during the design process even though it requires longer computation time.