Active vibration adaptive fuzzy backstepping control of a 7-DOF dual-arm of humanoid robot with input saturation

DOI10.3233/JIFS-169179MaRDI QIDQ5282792zbMATH OpenFDO

Authors Keqiang Bai, Minzhou Luo, Tao Li, Jue Wu, Lei Yang, Manlu Liu, Guanwu Jiang

Publication date 17 July 2017

Published in Journal of Intelligent & Fuzzy Systems (Search for Journal in Brave)

zbMATH Keywords

input saturationtorque compensationadaptive fuzzy backstepping control7-DOF dual-arm of humanoid robot

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Fuzzy control/observation systems (93C42)

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Cites work

• Nonlinear adaptive control of systems in feedback form: an alternative to adaptive backstepping
• Short-time linear quadratic form technique for estimating fast-varying parameters in feedback loops
• Stabilization of Euler-Bernoulli beam equation with boundary moment control and disturbance by active disturbance rejection control and sliding mode control approaches
• Vibration control of an Euler–Bernoulli beam under unknown spatiotemporally varying disturbance

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