An Effective Trajectory Tracking Control Method for Delta Robot Based on Backstepping Sliding Mode Control Techniques

摘要

In this paper, we propose the application of the backstepping sliding mode control method for the Delta robot, aiming to achieve desired motion trajectories in a short time and maintain system stability, even in the presence of unknown external disturbances affecting joint torques. The stability of the system is rigorously demonstrated based on the Lyapunov stability theory. The performance of the controller is evaluated through numerical simulations using the Matlab&Simulink tool, with a figure-eight trajectory, and compared with two other control algorithms, including classical PD and Backstepping. The results show that the proposed controller exhibits excellent performance, allowing for precise control of the Delta robot’s motion along the desired trajectory with minimal error, short response time, and improved stability compared to both PD and backstepping controllers, especially when the system is subjected to unknown external disturbances.