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Authors: Yassine Kali 1 ; Maarouf Saad 2 ; Khalid Benjelloun 1 and Mohammed Benbrahim 3

Affiliations: 1 Ecole Mohammadia d'Ingenieurs and Mohammed V University, Morocco ; 2 Ecole de Technologie Superieure and Quebec University, Canada ; 3 Sciences Faculty and SMBA University, Morocco

Keyword(s): Integral Backstepping, Time Delay Control, Trajectory Tracking, Robot Manipulators.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Robotics and Automation

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 several formats:
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; ISSN 2184-2809, SciTePress, pages 145-151. DOI: 10.5220/0005950201450151

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Kali, Y.
AU - Saad, M.
AU - Benjelloun, K.
AU - Benbrahim, M.
PY - 2016
SP - 145
EP - 151
DO - 10.5220/0005950201450151
PB - SciTePress

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