A parallel controller design and simulation for industry robot

A parallel controller was designed in order to realize an industry robot steady control performance. On the base of robust backstepping technique, a method for parallel control of robust backstepping and CMAC neural network was proposed for industry robot. It consisted of a robust controller designed through backstepping method and a CMAC controller. The backstepping controller was designed through robot model. However, there were parameters uncertainties and disturbance in the system. The backstepping controller can overcome the plant uncertainties and ensure the robust stability of system. And in order to assure the performance of system, a CMAC neural network is used to offset the disturbance and perturbation and improve the tracking precision. Simulation experiment shown that the method could give a good performance, even though there were disturbance and perturbation.