Title :
Adaptive backstepping controller for triple rotary joint manipulator
Author :
Maneeratanaporn, Jadesada ; Patompak, Pakpoom ; Varongkriengkrai, Siripong ; Nilkhamhang, Itthisek ; Tungpimolrut, Kanokvate
Author_Institution :
Sirindhorn Int. Inst. of Technol., Thammasat Univ., Pathumthani, Thailand
Abstract :
In this paper, adaptive backstepping control is implemented with a three link manipulator. The adaptive backstepping algorithm is designed to stabilize the nonlinear dynamics of the system. The idea of backstepping design is to drive the error equation to zero by implementing a virtual control strategy and parameter adjustment laws. This design technique is applicable to both linear and nonlinear systems. In this paper, the parameters of the manipulator are assumed to be initially unknown. They can be estimated by using the adaptive backstepping mechanism design. Simulation results are presented to show the performance of the backstepping and adaptive backstepping control.
Keywords :
adaptive control; control system synthesis; manipulators; nonlinear dynamical systems; adaptive backstepping controller; adaptive backstepping mechanism design; backstepping design; nonlinear dynamics; parameter adjustment laws; three link manipulator; triple rotary joint manipulator; virtual control strategy; Aerospace electronics; Backstepping; Joints; Manipulator dynamics; Mathematical model; adaptive backstepping control; articulated manipulator; nonlinear system;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
