A. Lotfazar,

[ 1 ] - Integrator Backstepping Control of a 5 DoF Robot Manipulator with Cascaded Dynamics

In this paper, dynamic equations of motion of a 5 DoF robot manipulator including mechanical arms with revolute joints and their electrical actuators are considered. The application of integrator backstepping technique for trajectory tracking in presence of parameters of uncertainty and disturbance is studied. The advantage of this control technique is that it imposes the desired properties of ...