Integrator backstepping control of a brush DC motor turning a robotic load
- 1 September 1994
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Control Systems Technology
- Vol. 2 (3) , 233-244
- https://doi.org/10.1109/87.317980
Abstract
In this paper, we design and implement integrator backstepping controllers (i.e., adaptive and robust) for a brush DC motor driving a one-link robot manipulator. Through the use of Lyapunov stability-type arguments, we show that both of these controllers ensure "good" load position tracking despite parametric uncertainty throughout the entire electromechanical system. Experimental results are presented to illustrate the performance and feasibility of implementing the nonlinear control algorithms.<>Keywords
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