Control of 2dof Planar Parallel Manipulator Using Backstepping Approach

Abstract

In this paper, dynamic equations of motion for a 2DoF parallel robot manipulator including structured and unstructured uncertainties are considered. The application ofBackstepping technique for trajectory tracking in presence of parameter uncertainties in massvariation is studied. The advantage of this control technique is that it imposes the desiredproperties of stability by xing initially the candidate Lyapunov functions, then by calculatingthe other functions in a recursive way. Simulation results are presented in order to evaluate thetracking performance and the global stability of the closed loop system. Obtained results showthe eectiveness of the proposed controller for 2DoF parallel robot.