Backstepping Control Augmented by Neural Networks For Robot Manipulators

A new control approach is proposed to address the tracking problem of robot manipulators. In this approach, one relies first on a partially known model to the system to be controlled using a backstepping control strategy. The obtained controller is then augmented by an online neural network that serves as an approximator for the neglected dynamics and modeling errors. The proposed approach is systematic, and exploits the known nonlinear dynamics to derive the stepwise virtual stabilizing control laws. At the final step, an augmented Lyapunov function is introduced to derive the adaptation laws of the network weights. The effectiveness of the proposed controller is demonstrated through computer simulation on PUMA 560 robot.