Intelligent Adaptive Gain Backstepping Technique

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Sara Heidari 1,* Ali Shahcheraghi 1 Kamran Heidari 1 Samaneh Zahmatkesh 1 Farzin Piltan 1

1. Institute of Advance Science and Technology, Intelligent control and Robotics Lab. IRAN SSP, Shiraz, Iran

* Corresponding author.


Received: 29 Mar. 2014 / Revised: 20 Aug. 2014 / Accepted: 19 Nov. 2014 / Published: 8 Jan. 2015

Index Terms

Continuum Robot Manipulator, Robust Backstepping Controller, Fuzzy Logic System, Adaptive Methodology


In this research, intelligent adaptive backstepping control is presented as robust control for continuum robot. The first objective in this research is design a Proportional-Derivative (PD) fuzzy system to compensate the system model uncertainties. The second objective is focused on the design tuning gain adaptive methodology according to high quality partly nonlinear methodology. Conventional backstepping controller is one of the important robust controllers especially to control of continuum robot manipulator. The fuzzy controller is used in this method to system compensation. In real time to increase the system robust fuzzy logic theory is applied to backstepping controller. To approximate a time-varying nonlinear dynamic system, a fuzzy system requires a large amount of fuzzy rule base. The adaptive laws in this algorithm are designed based on the Lyapunov stability theorem. This method is applied to continuum robot manipulator to have the best performance.

Cite This Paper

Sara Heidari, Ali Shahcheraghi, Kamran Heidari, Samaneh Zahmatkesh, Farzin Piltan, "Intelligent Adaptive Gain Backstepping Technique", International Journal of Information Technology and Computer Science(IJITCS), vol.7, no.2, pp.60-67, 2015. DOI:10.5815/ijitcs.2015.02.08


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