Decoupling controller design for passive force control system based on backstepping control

Based on backstepping control laws, a method of separating the coupling variables is proposed, and the decoupling control strategy is developed for passive force control system. The coupling mathematic model of passive force control system is built first. Then using the developed method, the coupling relation of the system is moved to the initial input of each subsystem step by step, then gets the controllers of each coupling subsystem. That is the coupling system is decoupled by the controllers with coupling relations. At last the simulation of whole system is made using the propose method. The theory and simulation results illustrate the efficiency of the proposed control strategy.