A modular designed bolt tightening shaft based on adaptive fuzzy backstepping control |
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| Authors: | Sibang Liu Shuzhi Sam Ge Zhongliang Tang |
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| Affiliation: | 1.School of Automation Engineering, and Center for Robotics,University of Electronic Science and Technology of China,Chengdu,China;2.Department of Electrical and Computer Engineering,National University of Singapore,Singapore,Singapore;3.Center for Robotics,University of Electronic Science and Technology of China,Chengdu,China;4.School of Computer Science and Engineering,University of Electronic Science and Technology of China,Chengdu,China |
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| Abstract: | This paper presents a modular designed autonomous bolt tightening shaft system with an adaptive fuzzy backstepping control approach developed for it. The bolt tightening shaft is designed for the autonomous bolt tightening operation, which has huge potential for industry application. Due to the inherent nonlinear and uncertain properties, the bolt tightening shaft and the bolt tightening process are mathematically modeled as an uncertain strict feedback system. With the adaptive backstepping and approximation property of fuzzy logic system, the controller is recursively designed. Based on the Lyapunov stability theorem, all signals in the closed-loop system are proved to be uniformly ultimately bounded and the torque tracking error exponentially converges to a small residue. And the effectiveness and performance of the proposed autonomous system are verified by the simulation and experiment results on the bolt tightening shaft system. |
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