Based on Passivity Backstepping Control of Robotic Systems

This paper presents a control using the backstepping and passivity strict-feedback technique; passivity monitor can evaluate stability of a system based on the concept of passivity. Using the decouple method and matrix transforming technique, decomposing the robot system as the position subsystem and the force subsystem, and then designs the control law of these subsystems respectively, the results obtained are satisfactory by using backstepping control, the tracking error is negligible and the global stability of the system can also be obtained.