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 the 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. Simulation results are presented in order to evaluate the tracking performance and the global stability of the closed loop system. The results show the validity of the proposed technique for robot motion control when the system dynamics, including both mechanical arms and electrical actuators has become more complex.