Improved Passivity Based Backstepping of an Electrically Controlled Robot Manipulator

摘要

This paper presents an improvement of a combined passivity and backstepping adaptive position control of an electrically controlled robot manipulator. It aims to elaborate an adaptive control method that guarantees the asymptotic stability, the tracking of the desired position trajectories, and the estimation of the unknown parameters. The major advantage of this method is its flexibility to build a control law by avoiding the cancellation of useful non-linearities. The simulation results illustrate the performance of this approach.