A Coefficient Diagram Method Controller with Backstepping Methodology for Robotic Manipulators

Fouad Haouari; Bali Nourdine; Mohamed Segir Boucherit; Mohamed Tadjine

doi:10.2478/jee-2015-0044

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A Coefficient Diagram Method Controller with Backstepping Methodology for Robotic Manipulators

Journal of Electrical Engineering

Volume 66 (2015): Issue 5 (September 2015)

By: Fouad Haouari, Bali Nourdine, Mohamed Segir Boucherit and Mohamed Tadjine

Open Access

|Nov 2015

Abstract

A new robust control procedure for robot manipulators is proposed in this paper. Coefficients diagram method controllers CDM and Backstepping methodology are combined to create the novel control law. Two steps of backstepping on the resulting system are used to design a nonlinear CDM-Backstepping controller. Simulations on a PUMA robot including external disturbances, parametric uncertainties and noises are performed to show the effectiveness and feasibility of the proposed method.

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Articles in this issue

DOI: https://doi.org/10.2478/jee-2015-0044 | Journal eISSN: 1339-309X | Journal ISSN: 1335-3632

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Language: English

Page range: 270 - 276

Submitted on: Aug 23, 2014

Published on: Nov 10, 2015

Published by: Slovak University of Technology in Bratislava

In partnership with: Paradigm Publishing Services

Publication frequency: 6 issues per year

Keywords:

manipulators,

backstepping approach,

coefficients diagram method controller,

robustness

Related subjects:

Engineering,

Introductions and overviews,

Engineering, other

© 2015 Fouad Haouari, Bali Nourdine, Mohamed Segir Boucherit, Mohamed Tadjine, published by Slovak University of Technology in Bratislava
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Volume 66 (2015): Issue 5 (September 2015)