Artificial Robust Control of Robot Arm: Design a Novel SISO Backstepping Adaptive Lyapunov Based Variable Structure Control.

• Main Authors: Sulaiman, Nasri, Piltan, Farzin, Jalali, Amin, Siamak, Sobhan, Nazari, Iman
• Format: Article
• Language: English
• Published: 2011
• Online Access: http://psasir.upm.edu.my/id/eprint/23311/

This paper examines single input single output (SISO) chattering free variable structure control (VSC) which controller coefficient is on-line tuned by fuzzy backstepping algorithm. VSC 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 formulation. The main goal is to guarantee acceptable trajectories tracking between the robot arm actual output and the desired input. The proposed approach effectively combines the design technique from variable structure controller is based on Lyapunov and fuzzy estimator to estimate the nonlinearity of undefined system dynamic in backstepping controller. The input represents the function between variable structure function, error and the rate of error. The outputs represent fuel ratio, respectively. The fuzzy backstepping methodology is on-line tune the variable structure function based on adaptive methodology. The performance of the SISO VSC which controller coefficient is on-line tuned by fuzzy backstepping algorithm (FBSAVSC) is validated through comparison with VSC and proposed method. Simulation results signify good performance of trajectory in presence of uncertainty and external disturbance.