Abstract

MOSQUERA LEYTON, Víctor Hugo  and  VIVAS ALBAN, Óscar Andrés. A BACKSTEPPING CONTROL FOR SCARA ROBOT BASED ON PARAMETRIC UNCERTAINTY. Cienc. Ing. Neogranad. [online]. 2012, vol.22, n.1, pp.107-122. ISSN 0124-8170.

ABSTRACT One of the typical problems of model-based control strategies is impact on control system performance due to non-modeled dynamics, parametric uncertainty and dynamic coupling. This paper offers a control strategy under a back stepping approach in order to ensure stability into a closed loop of a 4-dof Scara manipulator, and also to generate a system with robustness against parametric uncertainties, without increase control efforts.

Keywords : back stepping control; robot control; nonlinear control; robust control; parametric uncertainty.

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