Abstract
The adaptive backstepping technique is applied to set point control of a planar parallel robot. The dynamic model of the robot is characterised by a set of differential algebraic equations. The model is reduced into a set of Ordinary Differential Equations (ODEs). A model-based adaptive backstepping controller is designed. The proposed controller is tested by experiments. Comparison among the adaptive backstepping controller, backstepping controller, adaptive PD controller and PD controller is made based on experimental results. Experimental results show that the adaptive backstepping controller outperforms all the other controllers in terms of steady-state errors.
| Original language | English |
|---|---|
| Pages (from-to) | 312-324 |
| Number of pages | 13 |
| Journal | International Journal of Systems, Control and Communications |
| Volume | 1 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 2009 |
| Externally published | Yes |
Keywords
- adaptive backstepping
- DAE
- differential algebraic equation
- nonlinear control
- parallel robot
- systems
ASJC Scopus subject areas
- Control and Systems Engineering