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Controller Design for a Robot Manipulator System Using Adaptive Backstepping Method

  • Samiran MaitiEmail author
  • Achintya Das
Conference paper
  • 74 Downloads
Part of the Learning and Analytics in Intelligent Systems book series (LAIS, volume 12)

Abstract

This paper represents adaptive control strategies for controlling robot manipulator within sight of unsettling influences. The Scientific model of robot manipulator system has been exhibited in state space structure. Contingent upon the variation of parameters like lump inertia, friction coefficients, rotor inertia, a backstepping technique has been utilized to devise an adaptive control for the nonlinear system. Lyapunov Stability hypothesis has been incorporated into the dynamic framework to guarantee the solidness of the general framework regardless of parameter vulnerability. The improvement in the transient performance using the adaptive backstepping controller is validated by simulation environment.

Keywords

Adaptive control Robot manipulator State space structure Backstepping Nonlinear system Lyapunov Stability 

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Department of ECEMaulana Abul Kalam Azad University of TechnologyHaringhataIndia
  2. 2.Department of ECEKalyani Government Engineering CollegeKalyani, NadiaIndia

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