Control of Uncertain Robot Manipulators using Integral Backstepping and Time Delay Estimation

Yassine Kali, Maarouf Saad, Khalid Benjelloun, Mohammed Benbrahim

Abstract

In this paper, a novel controller is proposed and applied for high accuracy tracking trajectory in the workspace of robot manipulators in presence of uncertainties and external disturbances. Most of nonlinear controllers are based on the mathematical model of robot manipulator, but a lot of robotic systems do not have exact model. This novel approach which consists on designing an Integral Backstepping with Time Delay Control (IBTDC) can estimate uncertainties and keep high tracking performance. The proposed controller is able to stabilize the robot system, and also to drive the trajectory tracking errors to converge in finite time. Furthermore, experimental results are given to illustrate the effectiveness of the proposed method applied to the 7-DOF ANAT robot arm.

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Paper Citation


in Harvard Style

Kali Y., Saad M., Benjelloun K. and Benbrahim M. (2016). Control of Uncertain Robot Manipulators using Integral Backstepping and Time Delay Estimation . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 145-151. DOI: 10.5220/0005950201450151


in Bibtex Style

@conference{icinco16,
author={Yassine Kali and Maarouf Saad and Khalid Benjelloun and Mohammed Benbrahim},
title={Control of Uncertain Robot Manipulators using Integral Backstepping and Time Delay Estimation},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={145-151},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005950201450151},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Control of Uncertain Robot Manipulators using Integral Backstepping and Time Delay Estimation
SN - 978-989-758-198-4
AU - Kali Y.
AU - Saad M.
AU - Benjelloun K.
AU - Benbrahim M.
PY - 2016
SP - 145
EP - 151
DO - 10.5220/0005950201450151