Integrator backstepping control of a 5 DoF robot manipulator incorporating actuator dynamics

In this paper, dynamic equations of motion of a 5 DoF robot manipulator including mechanical arms with revolute joints and their electrical actuators are considered and the application of integrator backstepping technique for trajectory tracking, in the presence of parameters uncertainty and disturbance, is studied. The advantage of this control technique is that it imposes desired properties of stability by fixing the candidate Lyapunov functions initially, then by calculating the other functions in a recursive way. Simulations results are presented in order to evaluate the tracking performance and the global stability of the closed loop system. The results show the validity and usefulness of the proposed technique for robot motion control when the system dynamics, including both mechanical arms and electrical actuators has become more complex.