PID and Backstepping Controller on a 2-Link Biped Robot

Abstract

This paper deals with the application of PID controller and backstepping controller to the 2-link biped robot considering the non-linearities, parameter uncertainties, unmodelled dynamics related to it like parameter disturbance, unknown joint friction, inertia, different payloads and external perturbations). The trajectory tracking of a 2-link biped robot utilizing these two controllers is presented in this paper. The fundamental purpose of research is to identify the robustness of controller for trajectory tracking.