Adaptive control of a parallel robot via backstepping technique

摘要

The adaptive backstepping technique is applied to set point control of a planar parallel robot. The dynamic model of the robot is characterised by a set of differential algebraic equations. The model is reduced into a set of Ordinary Differential Equations (ODEs). A model-based adaptive backstepping controller is designed. The proposed controller is tested by experiments. Comparison among the adaptive backstepping controller, backstepping controller, adaptive PD controller and PD controller is made based on experimental results. Experimental results show that the adaptive backstepping controller outperforms all the other controllers in terms of steady-state errors.