TY - GEN
T1 - Real-time backstepping tracking control of a translational manipulator
AU - Rojas-Moreno, Arturo
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/27
Y1 - 2017/1/27
N2 - This work deals with the design and real-time implementation of a backstepping control system with the capability to simultaneously track the car and arm reference positions of a translational manipulator of 2DOF (2 Degrees of Freedom). The design of the backstepping controller is based on the nonlinear dynamic model of the manipulator. Simulation studies demonstrated that the outputs of the designed control system, car and arm positions, were able to follow sinusoidal and step form signals. A cRIO (compact Reconfigurable Input Output) device with proper input and output modules was used to embed the control and the HMI (Human Machine Interface) programs written in LabVIEW code. The good control performance of the designed backstepping control system was compared with the results obtained by an adaptive control system.
AB - This work deals with the design and real-time implementation of a backstepping control system with the capability to simultaneously track the car and arm reference positions of a translational manipulator of 2DOF (2 Degrees of Freedom). The design of the backstepping controller is based on the nonlinear dynamic model of the manipulator. Simulation studies demonstrated that the outputs of the designed control system, car and arm positions, were able to follow sinusoidal and step form signals. A cRIO (compact Reconfigurable Input Output) device with proper input and output modules was used to embed the control and the HMI (Human Machine Interface) programs written in LabVIEW code. The good control performance of the designed backstepping control system was compared with the results obtained by an adaptive control system.
UR - http://www.scopus.com/inward/record.url?scp=85015212048&partnerID=8YFLogxK
U2 - 10.1109/ANDESCON.2016.7836198
DO - 10.1109/ANDESCON.2016.7836198
M3 - Conference contribution
AN - SCOPUS:85015212048
T3 - Proceedings of the 2016 IEEE ANDESCON, ANDESCON 2016
BT - Proceedings of the 2016 IEEE ANDESCON, ANDESCON 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE ANDESCON, ANDESCON 2016
Y2 - 19 October 2016 through 21 October 2016
ER -