期刊名称：International Journal of Computer Science Issues
印刷版ISSN：1694-0784
电子版ISSN：1694-0814
出版年度：2013
卷号：10
期号：1
出版社：IJCSI Press
摘要：In this paper, based on hyapunov method, a backstepping adaptive fuzzy control scheme is presented for the two-link robot manipulator system. The control strategy consists of the traditional backstepping control and adaptive fuzzy control to cope with the model unknown and parameter disturbances.The simulation is presented to verify the effectiveness of the proposed control scheme. From the simulation results ,fast response, strong robustness, good disturbance rejection capability and good angle tracking capability can be obtained. The output tracking error between the actual position output and the desired position output can asymptotically converge to zero. It is also revealed from simulation results that the proposed control strategy is valid for the two-link robot manipulator.
