Commande non linéaire par Backstepping d'un system non linéaire complexe application au bras manipulateur

Abstract

Nonlinear systems represent a large part of the systems studied in industry among which we find manipulators robots. It is for this reason that the development of nonlinear control laws has become very interesting for improved performance. 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 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 disturbances on our system, the results obtained clearly confirm the dynamic performances and the robustness of the control applied for the pursuit of the trajectories