A Coefficient Diagram Method Controller with Backstepping Methodology for Robotic Manipulators
, , oraz
10 lis 2015
O artykule
Data publikacji: 10 lis 2015
Zakres stron: 270 - 276
Otrzymano: 23 sie 2014
DOI: https://doi.org/10.2478/jee-2015-0044
Słowa kluczowe
© 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.