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Motion/Force Control for the Constrained Electrically Driven Mobile Manipulators Based on Hybrid Backstepping Control Approach

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Soft Computing: Theories and Applications

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1380))

Abstract

This paper designs a hybrid backstepping control approach for the constrained electrically driven mobile manipulator by merging the advantages of the model-based approach and the neural network-based model-free approach and the conventional backstepping control scheme. The backstepping approach provides the strong robustness against the uncertainties. Additionally, an adaptive compensator term is also adopted to diminish the effects of the uncertainties like reconstruction error, bounded external disturbances, and friction terms. Next, stability analysis is done by making use of the adaptation laws and Lyapunov stability theory. The complete system is guaranteed to be asymptotic stable. Simulation tests on two-link electrically driven manipulator demonstrate the efficiency and robustness of the presented control scheme.

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Author information

Authors and Affiliations

  1. Department of Mathematics, National Institute of Technology, Kurukshetra, 136119, Haryana, India

    Naveen Kumar

  2. Department of Applied Sciences and Humanities, Panipat Institute of Engineering and Technology, Samalkha, Panipat, 132102, Haryana, India

    Manju Rani

Authors
  1. Naveen Kumar
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  2. Manju Rani
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Shobhit University Gangoh, Gangoh, Uttar Pradesh, India

    Tarun K. Sharma

  2. Gwangju Institute of Science and Technology, Gwangju, Korea (Republic of)

    Chang Wook Ahn

  3. Department of Instrumentation and Control Engineering, Dr. B. R. Ambedkar National Institute of Technology, Jalandhar, Punjab, India

    Om Prakash Verma

  4. Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, Delhi, India

    Bijaya Ketan Panigrahi

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© 2022 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Kumar, N., Rani, M. (2022). Motion/Force Control for the Constrained Electrically Driven Mobile Manipulators Based on Hybrid Backstepping Control Approach. In: Sharma, T.K., Ahn, C.W., Verma, O.P., Panigrahi, B.K. (eds) Soft Computing: Theories and Applications. Advances in Intelligent Systems and Computing, vol 1380. Springer, Singapore. https://doi.org/10.1007/978-981-16-1740-9_36

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