Adaptive Control of a Linear Delta Robot Based on Backstepping Design

Abstract

This paper presents 2nd order adaptive controller for a linear delta robot based on the backstepping design. For different inputs, including step and continuity signals, such as sine waves, 1st order and 2nd order controller design the compensation and achieve the tracking error can converge to zero. We used the parameters of linear delta robot and input the step function, sine wave to compare the performance which linear delta robot system is in the external disturbance. The design of the controller is mainly for the reference input order to reduce the system steady-state error, effectively improve the tracking performance of the input signal and achieve zero steady-state error.