Adaptive backstepping control of rigid-link electrically driven robots with uncertain kinematics and dynamics

In this paper, backstepping strategy is used to design an adaptive tracking controller for rigid-link electrically driven robots in the presence of uncertainties in kinematics, manipulator dynamics and actuator dynamics. First, the armature current vector is regarded as the control variable for the manipulator subsystem and a desired armature current is designed based on the inverse manipulator dynamics. Then, an input control voltage is designed so that armature current tracks the desired armature current. Simulation results of applying the proposed controller on a two link RLED robot are presented to show the effectiveness of the proposed control scheme.