Adaptive Robust Tracking Control Based on Backstepping Method for Uncertain Robotic Manipulators Including Motor Dynamics

javad keighobadi; Mohammad mehdi Fateh

Volume 4, Issue 1 , January 2021, , Pages 13-22

  Recent research on the backstepping control of robotic systems has motivated us to design a robust backstepping voltage-based controller with computational simplicity and ease of implementation. In this paper, an adaptive robust tracking controller based on backstepping method (ARTB) is presented for ...  Read More