Robust observer based backstepping controller for robot manipulator

Abstract

This paper present nonlinear backstepping controller-observer design for the trajectory tracking control of robotic manipulators. Most of robot manipulator controllers require position measurements as well as velocity measurements to achieve their control goals, but a lot of robotic systems do not have the velocity measurement devices. Therefore, a velocity observer by backstepping is employed to estimate the unknown angular velocity of robot manipulators, and then the nonlinear controller based on backstepping design algorithm is developed for the robot manipulator systems. The proposed application of backstepping controller-observer technique for trajectory tracking in presence of disturbance and white nose is studied. Furthermore, some simulation results are given to illustrate the excellent performance of the backstepping controller-observer design with integral action scheme applied to a two-link robot manipulator.