Ứng dụng kỹ thuật cuốn chiếu trong điều khiển robot liên kết đơn linh hoạt

Abstract

This article presents a method for designing a controller of single-link flexible joint robot position tracking using a backstepping technique. This system has been widely used in many applications where robot interacts with environments or with humans. Backstepping method is one of the most breakthrough methods for controlling the nonlinear system. It can guarantee global stability and improvement of tracking and transient performances. The stability of the system is proven by Lyapunov's theory. Simulation results in MATLAB/Simulink show the effectiveness of the proposed controller with the rising time achives 3.1524s, the settling time is 5.7324s, the percent overshoot is 0% and the steady state error converges to zero.