Fuzzy Adaptive Control of Flexible Manipulator with Input Dead Zone based on Command Filtering.
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| Title: | Fuzzy Adaptive Control of Flexible Manipulator with Input Dead Zone based on Command Filtering. |
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| Authors: | Zhou, Houru1 1731248716@qq.com, Lyu, Yingjun1 sdkdlyj@163.com |
| Source: | Engineering Letters. Aug2026, Vol. 34 Issue 8, p3620-3628. 9p. |
| Subjects: | Adaptive fuzzy control, Backstepping control method, Tracking control systems, Random noise theory, Manipulators (Machinery), Nonlinear systems |
| Abstract: | For the stochastic system of a flexible joint manipulator with input dead-zone nonlinearity, this paper proposes a fuzzy adaptive command-filtered backstepping control method to achieve accurate trajectory tracking. First, command filtering technology is employed to eliminate the inherent "explosion of complexity" problem of traditional backstepping, and an error compensation mechanism is introduced to mitigate the influence of filtering errors on control accuracy. Second, fuzzy logic systems are utilized to approximate unknown nonlinear functions and stochastic disturbances in the system dynamics. By incorporating adaptive laws for parameter estimation, the method effectively overcomes the adverse effects of random perturbations, thereby improving robustness and tracking performance. Third, considering the non-smooth input dead-zone characteristics commonly encountered in engineering actuators, a constructive backstepping control law is derived to explicitly counteract dead-zone induced performance degradation. The stability analysis proves that all closed-loop signals remain bounded in probability, and the tracking error converges to a small neighborhood of the origin. Comparative simulation studies, including different initial conditions, demonstrate that the proposed command-filtered control scheme achieves smaller tracking errors, faster convergence, and lower phase lag than conventional dynamic surface control. The results validate the effectiveness of the proposed method under stochastic disturbances, unknown nonlinearities, and input dead-zone. This approach provides a promising solution for high-precision control of flexible manipulators in practical industrial environments where non-smooth actuator characteristics and random perturbations coexist. [ABSTRACT FROM AUTHOR] |
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| Database: | Engineering Source |
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