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A Modular Designed Bolt Tightening Shaft Based on Adaptive Fuzzy Backstepping Control
Sibang Liu,Shuzhi Sam Ge,Zhongliang Tang 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.4
This paper presents a modular designed autonomous bolt tightening shaft system with an adaptive fuzzybackstepping control approach developed for it. The bolt tightening shaft is designed for the autonomous bolttightening operation, which has huge potential for industry application. Due to the inherent nonlinear and uncertainproperties, the bolt tightening shaft and the bolt tightening process are mathematically modeled as an uncertain strictfeedback system. With the adaptive backstepping and approximation property of fuzzy logic system, the controlleris recursively designed. Based on the Lyapunov stability theorem, all signals in the closed-loop system are proved tobe uniformly ultimately bounded and the torque tracking error exponentially converges to a small residue. And theeffectiveness and performance of the proposed autonomous system are verified by the simulation and experimentresults on the bolt tightening shaft system.