Application of passivity based and integrator backstepping control methods on a 5 DOF robot manipulator incorporating actuator dynamics

In this paper, the application of passivity based and integrator backstepping techniques for trajectory tracking of a 5 DOF robot manipulator, with revolute joints and DC motors, in the presence of parameters uncertainty, friction and disturbance, is studied. Comparison of simulation results of the two methods shows that passivity based with respect to integrator method has more smooth control commands and better trajectory tracking in presence of disturbance, friction and uncertainty by using passivity properties of the robot