BACKSTEPPING – SLIDING MODE CONTROL FOR DUAL ARM ROBOT

Hiep Duc Nguyen, Tuan Duc Pham, Doanh Quoc Vu, Dan Van Bui, Hai Xuan Le

Abstract


This paper presents a Backstepping-Sliding Mode Control for dual arm robot in handling, transporting a payload to track a desired trajectory. The control law is based on Backstepping and Sliding mode control technique and Lyapunov theory. A numerical simulation was used to verify the performance and robustness of the controller.

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References


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