<abstract xmlns="http://www.w3.org/1999/xhtml"><p> 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.</p></abstract>

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.

A Coefficient Diagram Method Controller with Backstepping Methodology for Robotic Manipulators

Automatic Control Department, Ecole Nationale Polytechnique, Algeria

Electrical Engineering and Computing faculty, Université Houari Boumediene de Sciences et de la Technology, Algeria

Journal of Electrical Engineering

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...

A Coefficient Diagram Method Controller with Backstepping Methodology for Robotic Manipulators

Published Online: Nov 10, 2015

Page range: 270 - 276

Received: Aug 23, 2014

DOI: https://doi.org/10.2478/jee-2015-0044

Keywords
manipulators, backstepping approach, coefficients diagram method controller, robustness

© 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 Coefficient Diagram Method Controller with Backstepping Methodology for Robotic Manipulators

Published Online: Nov 10, 2015

Page range: 270 - 276

Received: Aug 23, 2014

DOI: https://doi.org/10.2478/jee-2015-0044

Keywordsmanipulators, backstepping approach, coefficients diagram method controller, robustness

© 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.

Keywords
manipulators, backstepping approach, coefficients diagram method controller, robustness