Adaptive backstepping control for a single-link flexible robot manipulator driven DC motor

Author

Zouari, Farouk ; Ben Saad, Kamel ; Benrejeb, Mohamed

Author_Institution

Lab. de Rech. LARA-Autom., Ecole Nat. d´Ing. de Tunis, Tunis, Tunisia

fYear

2013

fDate

6-8 May 2013

Firstpage

864

Lastpage

871

Abstract

In this paper, an adaptive backstepping control method is developed for a single-link robotic manipulator coupled to a brushed direct current DC motor with a nonrigid joint. The developed method uses the Lyapunov approach. It guarantees the uniform ultimate boundedness of the closed-loop system signals and the tracking error converges to zero asymptotically for any initial conditions. Simulation results also demonstrate the feasibility, effectiveness and advantage of the method.

Keywords

DC motors; Lyapunov methods; adaptive control; closed loop systems; control nonlinearities; flexible manipulators; Lyapunov approach; adaptive backstepping control method; brushed direct current DC motor; closed-loop system signal uniform ultimate boundedness; nonrigid joint; single-link flexible robot manipulator; tracking error; Backstepping; Control systems; DC motors; Joints; Manipulators; Velocity measurement; Lyapunov approach; adaptive backstepping control method; closed-loop system signals; direct current (DC) motor; single-link robotic manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Decision and Information Technologies (CoDIT), 2013 International Conference on

Conference_Location

Hammamet

Print_ISBN

978-1-4673-5547-6

Type

conf

DOI

10.1109/CoDIT.2013.6689656

Filename

6689656