<abstract xmlns="http://www.w3.org/1999/xhtml"><p>This work presents fuzzy backstepping control techniques applied to the load simulator for good tracking performance in presence of extra torque, and nonlinear friction effects. Assuming that the parameters of the system are uncertain and bounded, Algebraic parameters adaptation algorithm is used to adopt the unknown parameters. The effect of transient fuzzy estimation error on parameters adaptation algorithm is analyzed and the fuzzy estimation error is further compensated using saturation function based adaptive control law working in parallel with the actual system to improve the transient performance of closed loop system. The saturation function based adaptive control term is large in the transient time and settles to an optimal lower value in the steady state for which the closed loop system remains stable. The simulation results verify the validity of the proposed control method applied to the complex aerodynamics passive load simulator.</p></abstract>

This work presents fuzzy backstepping control techniques applied to the load simulator for good tracking performance in presence of extra torque, and nonlinear friction effects. Assuming that the parameters of the system are uncertain and bounded, Algebraic parameters adaptation algorithm is used to adopt the unknown parameters. The effect of transient fuzzy estimation error on parameters adaptation algorithm is analyzed and the fuzzy estimation error is further compensated using saturation function based adaptive control law working in parallel with the actual system to improve the transient performance of closed loop system. The saturation function based adaptive control term is large in the transient time and settles to an optimal lower value in the steady state for which the closed loop system remains stable. The simulation results verify the validity of the proposed control method applied to the complex aerodynamics passive load simulator.

Fuzzy Backstepping Torque Control Of Passive Torque Simulator With Algebraic Parameters Adaptation

School of Automation Science and Electrical Engineering (Science and technology on aircraft control laboratory, Beihang University (BUAA), Beijing, China

Journal of Electrical Engineering

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

This work presents fuzzy backstepping control techniques applied to the load simulator for good tracking performance in presence of extra torque, and nonlinear...

Fuzzy Backstepping Torque Control Of Passive Torque Simulator With Algebraic Parameters Adaptation

Published Online: Sep 19, 2015

Page range: 203 - 213

Received: Mar 04, 2012

DOI: https://doi.org/10.2478/jee-2015-0033

Keywords
passive torque simulator, mathematical modelling, backstepping, fuzzy logic, algebraic parameters adaptation

© Faculty of Electrical Engineering and Information Technology, Slovak University of Technology

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Fuzzy Backstepping Torque Control Of Passive Torque Simulator With Algebraic Parameters Adaptation

Published Online: Sep 19, 2015

Page range: 203 - 213

Received: Mar 04, 2012

DOI: https://doi.org/10.2478/jee-2015-0033

Keywordspassive torque simulator, mathematical modelling, backstepping, fuzzy logic, algebraic parameters adaptation

© Faculty of Electrical Engineering and Information Technology, Slovak University of Technology

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
passive torque simulator, mathematical modelling, backstepping, fuzzy logic, algebraic parameters adaptation