An adaptive fuzzy control method is developed to control chaos in the permanent magnet synchronous motor drive system via backstepping. Fuzzy logic systems are used to approximate unknown nonlinearities, and an adaptive backstepping technique is employed to construct controllers. The proposed controller can suppress the chaos of PMSM and track the reference signal successfully. The simulation results illustrate its effectiveness.

In this paper, the adaptive full-state constraints bipartite consensus tracking problem for coopetition flexible joint multi-manipulator systems with finite-time convergence is investigated. Based on the finite-time convergent method, the command filtered backstepping technique is introduced to ensure the excellent convergence performance without the influence of the repeated differential problem which is called explosion of complexity, and the error compensation mechanism is proposed to reduce the error caused by the filtering progress. Furthermore, by using the barrier Lyapunov functions, the state of the system and error compensation signals are proved to be constrained in their respective expected ranges. It is worth mentioning that the flexible joint multi manipulator system is in the mode of coopetition. Finally, the practicability of the proposed algorithm is exhibited in the simulation.

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Abstract. This paper studies the trajectory planning and the optimization of the end spray gun of the mechanical arm, aiming at the running distance of the spray gun. The proposed way makes the whole process of gun required to run the shortest distance of the spraying trajectory. It builds mathematical model towards the optimal trajectory planning of the spray gun's spraying work; according to the process requirements, kinematic parameter are gained by the technological process and the control instruction. It allows the spray gun at the end of the mechanical arm to run as per the expected trajectory by using the trajectory of the spray gun. Based on the approach, it can get a set of automatic spraying device and complete the spraying work with high quality. This study has lots of practical application value.

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