Backstepping - based Robust Control Scheme for Robot

Abstract

Considering the fact that there is only joint position measurement in most industrial robots, we have designed a sliding mode observer to estimate the velocities, then based on backsteping method, a robust control scheme for robot is proposed, which can guarantee that the tracking errors are uniformly and ultimately bounded. Finally we compared the robust control law with PID + forward feed compensation control law on a robot in experiments, which shows that the former control law is of smaller tracking error.