A Coefficient Diagram Method Controller with Backstepping Methodology for Robotic Manipulators
, , and | Nov 10, 2015
About this article
Published Online: Nov 10, 2015
Page range: 270 - 276
Received: Aug 23, 2014
DOI: https://doi.org/10.2478/jee-2015-0044
Keywords
© Faculty of Electrical Engineering and Information Technology, Slovak University of Technology
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.
A new robust control procedure for robot manipulators is proposed in this paper. Coefficients diagram method controllers CDM and Backstepping methodology are combined to create the novel control law. Two steps of backstepping on the resulting system are used to design a nonlinear CDM-Backstepping controller. Simulations on a PUMA robot including external disturbances, parametric uncertainties and noises are performed to show the effectiveness and feasibility of the proposed method.