Sliding Mode Robust Control of Robot Manipulator in the Task Space by Support of Feedback Linearization and BackStepping Control

摘要

Abstract: A robust control approach is developed to control robot in the task space using sliding mode by support of feedback linearization control and backstepping method, in this study. The bounds of uncertainties applied in the sliding mode control are reduced by applying feedback linearization. This provides a robust control system with a less error. The back-stepping method is used to define a linear slip surface and providing uniform ultimate boundedness stability purpose. A case of study is carried out on a two link elbow robot driven by electrical motors.