Adaptive Backstepping Tuning Functions Control Design for Industrial Robot Manipulators

Abstract In this paper, an adaptive backstepping control design with tuning functions and K-filters for robot manipulators is developed. A stronger stability and convergence performance of the designed control in comparison with backstepping observer is achieved despite the presence of disturbances, parameter uncertainties, system nonlinearities for a real-time system of a single-link flexible-joint manipulator.

Keywords Tuning functions, K-filters, Adaptive Observer Backstepping, Robot Manipulator Control.

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Dynamic analyses of a flat plate and a beam subjected to a moving load

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