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Novel adaptive backstepping control for uncertain manipulator robots using state and output feedback

Published online by Cambridge University Press:  23 November 2021

Brahim Brahmi Open the ORCID record for Brahim Brahmi [Opens in a new window] ,
Maarouf Saad ,
Claude El-Bayeh ,
Mohammad Habibur Rahman  and
Abdelkrim Brahmi
Brahim Brahmi*
Affiliation:
Electrical and Computer Engineering Department, Miami University, Oxford, OH, USA
Maarouf Saad
Affiliation:
Electrical Engineering Department, College Ahuntsic, Montreal, Quebec, Canada
Claude El-Bayeh
Affiliation:
Concordia University, Montreal
Mohammad Habibur Rahman
Affiliation:
Mechanical Engineering Department, University of Wisconsin-Milwaukee, Wisconsin-Milwaukee, WI, USA
Abdelkrim Brahmi
Affiliation:
Ecole de technologie superieure, Montreal, QuébecH3S1E3, Canada
*
*Corresponding author. E-mail: brahim.brahmi@mcgil.ca
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Abstract

In this paper, a new adaptive control strategy, based on the Modified Function Approximation Technique, is proposed for a manipulator robot with unknown dynamics. This novel strategy benefits from the backstepping control approach and the use of state and output feedback. Unlike the conventional Function Approximation Technique approach, the use of basis functions to approximate the dynamic parameters is completely eliminated in the proposed scheme. Another improvement is eliminating the need to measure velocity by means of integrating a high-order sliding mode observer. Furthermore, utilizing the Lyapunov function theory, it is demonstrated that all controller signals are uniformly ultimately bounded in the closed-loop form. Lastly, simulation and comparative studies are carried out to validate the effectiveness of the proposed control approach.

Keywords

function approximation techniquebackstepping controladaptive controlstate observerunknown dynamics
Type
Research Article
Information
Robotica , Volume 40 , Issue 5 , May 2022 , pp. 1326 - 1344
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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