Control of Uncertain Robot Manipulators using Integral Backstepping and Time Delay Estimation

In this paper, a novel controller is proposed and applied for high accuracy tracking trajectory in the workspace of robot manipulators in presence of uncertainties and external disturbances. Most of nonlinear controllers are based on the mathematical model of robot manipulator, but a lot of robotic systems do not have exact model. This novel approach which consists on designing an Integral Backstepping with Time Delay Control (IBTDC) can estimate uncertainties and keep high tracking performance. The proposed controller is able to stabilize the robot system, and also to drive the trajectory tracking errors to converge in finite time. Furthermore, experimental results are given to illustrate the effectiveness of the proposed method applied to the 7-DOF ANAT robot arm.

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