LAUSR

ABSTRACT When the nonlinear mechanical system has mismatched uncertainties, it is difficult to design control algorithm to achieve high precision trajectory tracking control. Traditional backstepping control is an effective control method for uncertain, mismatched nonlinear systems, but there is inherent problem of “complexity due to the explosion of terms”. In this paper, based on the backstepping method, only one fuzzy system is used to approximate the unknown nonlinear functions, the unknown control gain and the differential of virtual control law of each subsystem. In order to reduce the influence of fuzzy approximation error and external interference, the above control scheme is further improved by designing special adjustable control parameters and first order low pass filter. The improved control scheme not only improves the control precision of the system obviously, but also solves the problem of “explosion of terms”, and greatly reduces the initial control input, and provides the conditions for the practical application. The simulation results show the effectiveness of the proposed methods.