Backstepping control of two degrees of freedom (2-DOF) robot manipulator

  • azzedine khati Electrical Engineering Department, Hassiba Benbouali University, Chlef, Algeria
Keywords: 2-DOF robot manipulator, backstepping control, Lyapunov function


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.


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How to Cite
khati, azzedine. (2020). Backstepping control of two degrees of freedom (2-DOF) robot manipulator. Majlesi Journal of Mechatronic Systems, 9(4). Retrieved from