Adaptive Fuzzy Tracking Control for a Single-Link Flexible Joint Manipulator System Based on the Fully Actuated System Approaches

This paper investigates the issue of tracking control for a single-link flexible joint manipulator system with actuator failures. Fuzzy logic systems (FLSs) are introduced to estimate the uncertain nonlinear functions. Based on backstepping technology and the fully-actuated system approach, a fuzzy adaptive fault-tolerant control scheme is presented. The presented control strategy demonstrates that all the signals in closed-loop system are bounded and the tracking error can converge to a small area near zero. The simulation results illustrate the validity of the developed control strategy.