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A CDM-backstepping control with nonlinear observer for electrically driven robot manipulator

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Abstract

This paper presents a CDM-backstepping strategy for motion control of Electrically-driven manipulator under the conditions of uncertainty and the action of external disturbance, while incorporating a nonlinear observer. Based on this model, a systematic analysis and design algorithm is developed to deal with stabilization and trajectory tracking of elbow robot, one feature of this work is employing the backstepping observer to achieve the exponential stability with position and velocity estimations. The results of computer simulations demonstrate that accurate and robust motion control can be achieved by using the proposed approach.

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Authors and Affiliations

  1. Department of Electrical Engineering, Process Control Laboratory, ENP. 10 avenue Hassan Badi, P.O Box 182, Algiers, 16200, Algeria

    F. Haouari, M. Tadjine & M. S. Boucherit

  2. Electrical Engineering and Computing Faculty, USTHB, P.O Box 32, El Alia, Bab Ezzouar Algiers, 16111, Algeria

    N. Bali

Authors
  1. F. Haouari
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  2. N. Bali
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  3. M. Tadjine
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  4. M. S. Boucherit
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Correspondence to F. Haouari.

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Haouari, F., Bali, N., Tadjine, M. et al. A CDM-backstepping control with nonlinear observer for electrically driven robot manipulator. Aut. Control Comp. Sci. 50, 332–346 (2016). https://doi.org/10.3103/S0146411616050047

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  • DOI: https://doi.org/10.3103/S0146411616050047

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