Command Filtering Fuzzy Control for Stochastic System of Flexible Joint Manipulators with Dead-Zone Input
A fuzzy adaptive control method based on command filtering technology is proposed for a stochastic system of flexible joint manipulators with dead-zone in-put,which achieves tracking control of the system output on the expected trajectory.Firstly,command filtering technology is used to solve the problem of"explosion of complexity"inherent in the traditional backstepping method,and error compensation mechanism is introduced to eliminate the influence of filtering errors on the system control precision.Then,a fuzzy logic system is utilized to deal with uncertainties and stochastic disturbances in the system,which overcomes the influence of stochas-tic disturbances and improves the control effect of the system.Finally,considering the system with dead-zone input,the control signal is constructed by backstepping control method,which conquers the adverse impact of dead-zone input on system per-formance.In the stability analysis,the effectiveness of the control strategy studied in the stochastic system of flexible joint manipulators with dead-zone input is proved,and it is verified by Matlab simulation.
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