Comparative study of CDM-backstepping and PID-backstepping controllers for robotic

A new robust control procedure for robot manipulators is proposed in this paper. Coefficients diagram method controllers CDM and Backstepping methodology are combined to develop the proposed control law. Two steps of backstepping on the resulting system are used to design a nonlinear CDM-Backstepping controller. The latter can be applied for triangular systems to solve the problem of stability and robustness. The original motivations of the respective methods is to integrate the performance of the two controllers CDM and Backstepping, this controller can be used in numerous engineering applications in industry such as servomotor drives, gas turbine control, spacecraft attitude control, and robotic system control, To show the effectiveness of the proposed control method and its ability to cope with the external disturbances, noise and parameters variation, results are compared with a PID-Backstepping controller. Comparative studies demonstrate that the proposed CDM-Backstepping control method has better performance than the PID-Backstepping controller and efficient for robotic system with limited uncertainty. Copyright © 2014 SoftMotor Ltd.