Adaptive Fuzzy Passivation Control Based on Backstepping Method for Electrically Driven Robotic Manipulators

This paper presents a new passivity-based adaptive fuzzy voltage controller for electrically driven robotic manipulators. Moreover, the backstepping method is utilized to passivate the system step by step. It is worth noting that the integral of joint position is augmented as an additional state variable to upgrade the system performance. The manipulator dynamics and the actuators are regarded as unknown terms in the design mechanism where fuzzy approximators are employed to identify them. The boundedness of all states is verified through the passivity analysis. Simulation results on a 2-DOF robotic manipulator driven by permanent magnet Dc motors show the potential of the proposed voltage controller in tracking the desired trajectory.