Backstepping Control of Two Degrees of Freedom (2-DOF) Robot Manipulator

In this present work which mainly concerns the Backstepping control of the manipulator robot with 2 degrees of freedom, we are interested in the dynamic model of the manipulator robot which expresses the torques exerted by the actuators as a function of the positions, speeds and accelerations of the joints by applying to it Backstepping control laws based on a Lyapunov function for a pursuit of certain desired trajectories. The Robustness test is carried out in order to have a better appreciation of the results obtained through the system studied by considering parametric variations of up to 40% for the robot joint masses, the results obtained clearly confirm the dynamic performances and the robustness of the control applied for the pursuit of the trajectories.