Abstract
This paper presents a modular designed autonomous bolt tightening shaft (BTS) system and an adaptive fuzzy backstepping control is designed for such a system. The BTS system is designed for the autonomous bolt tightening operation, which has a wide potential industry application. Due to its inherent nonlinear and uncertain properties, the BTS system is mathematically modeled as an uncertain strict feedback system. By employing adaptive backstepping and the approximation property of fuzzy logic system, the controller is designed step by step. Based on the Lyapunov stability theorem, all signals in the closed-loop system are proved to be bounded and tracking error converge to zero. Simulation results on the BTS system are provided to validate the effectiveness and performance of proposed autonomous system.
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