Backstepping and adaptive backstepping control on robotic ARM

Robotic arm is extensively used in applications that requires high precision and accuracy such as biomedical and laser treatments. Backstepping and adaptive backstepping are implemented on the system. In this paper, the parameters of the robotic arm are assumed to be initially unknown. They can be estimated by using the adaptive backstepping mechanism design. Simulation results are presented to show the performance of the backstepping and adaptive backstepping control.