Feedback linearizing versus integrator backstepping for trajectory tracking of three-link cylindrical-type robot

In a feedback linearization design, the control law is chosen to cancel nonlinearities in the system and replace them by term(s) that will guarantee the stability of the system. The idea of backstepping is to design a controller recursively by considering some of the state variables as virtual controls and designing for them intermediate control laws. A 3-joint cylindrical-type robotics system has been adopted. The robot arm consists of one revolute and two prismatic joints. One joint torque and two joint forces form the system input. All the three-joint force/torque are inputting into the robot real plant so that the robot wrist can approach to a given desired trajectory. In this work, the real plant is simulated with a set of parameters, while the control law is calculated using the model set of parameters in order to simulate the control effect rejecting parameter uncertainty