Adaptive tracking control of a class of mechanical systems

This paper proposes a combined method for motion/force tracking control of a class of Lagrange mechanical systems by using cascaded methods and backstepping techniques. This paper first transforms error dynamics between the kinematic system and the desired trajectories into a cascaded system consisting of two subsystems and an interconnection function, then, designs virtual controllers for the kinematic systems under the framework of cascaded methods, last develops the tracking controller for the overall mechanical systems using adaptive backstepping techniques. Simulation studies are given to verify the effectiveness of the proposed method.