Adaptive backstepping trajectory tracking control of robot manipulator |
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| Authors: | Qinglei Hu Liang Xu Aihua Zhang |
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| Institution: | 1. Edward S. Rogers Sr. Department of Electrical & Computer Engineering, University of Toronto, Toronto, Ontario, Canada M5S 3G4;2. Department of Electrical & Computer Engineering, University of Alberta, Edmonton, Alberta, Canada T6G 2V4;1. Laboratory of Sciences and Techniques of Automatic control & computer engineering (Lab-STA), National School of Engineering of Sfax, University of Sfax, Postal Box 1173, 3038 Sfax, Tunisia;2. Laboratory of Computer Embedded Systems (CES), National School of Engineering of Sfax, University of Sfax, Postal Box 1173, 3038 Sfax, Tunisia |
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| Abstract: | An adaptive backstepping control scheme is proposed for task-space trajectory tracking of robot manipulators in the presence of uncertain parameters and external disturbances. In the case of external disturbance-free, the developed controller guarantees that the desired trajectory is globally asymptotically followed. Moreover, taking disturbances into consideration, the controller is synthesized by using adaptive technique to estimate the system uncertainties. It is shown that L2 gain of the closed-loop system is allowed to be chosen arbitrarily small so as to achieve any level of L2 disturbance attenuation. The associated stability proof is constructive and accomplished by the development of a Lyapunov function candidate. Numerical simulation results are included to verify the control performance of the control approach derived. |
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