Robust Tracking Control Of Robot Manipulators Using Backstepping

Abstract

This paper presents a sliding mode control law based on Backstepping method for tracking control of robot manipulator. In addition, low pass filter (LPF) is utilized to alleviate the chattering of sliding mode control. The control law can guarantee fast convergence of trajectory tracking error as well as robustness for external disturbances and parameter uncertainties. Simulation results prove the validity of theoretic analysis results.