Adaptive Backstepping Control for 4 DOF SCARA Robot in the Presence of Uncertainties

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Abstract

Since the Robot dynamic equations contains nonlinear parameters, nonlinear control techniques could be a logical choice to achieve proper tracking and asymptotic convergence. According to this principle, in this paper, backstepping control method is applied to control a SCARA robot at the presence of uncertainty. The backstepping control method is a systematic technique for designing stable nonlinear control systems based on the Lyapunov stability criterion. In practice, the proposed controller should be robust to overcome the disturbances and uncertainties. Therefore in this study, using integrated back-stepping method, a stable controller of SCARA robot is designed with the aim of tracking trajectory. With respect to that the mass and inertia of the robot are not determined practically, an adaptive backstepping controller is implemented to estimate unknown parameters of the system. These controllers are simulated considering SCARA robot with three rotational and one prismatic joint. The results of backstepping method in the presence of external disturbances, and without it, reveals that the backstepping method is a right choice for both cases.

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References

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Journal of Solid and Fluid Mechanics
Volume 5, Issue 4 - Serial Number 4
January and February 2016
Pages 297-307

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