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<p>In this paper, a new control architecture is presented that employs a backstepping controller based on the high-gain observer (HGO) signal differentiation property, augmented with adaptive derivative-free (DF) control for elastic joint robotic manipulators (EJRM). The proposed strategy offers an alternative approach to address the challenges related to the explosion of terms and uncertainty in such systems. Specifically, this work introduces a high-gain differentiator (HGD) to estimate the first derivative of the virtual stabilizing functions that appear in the backstepping procedure, replacing the need for analytic differentiation. In addition, derivative-free adaptive control was used to approximate the main nonlinearities in the robot dynamics, relaxing the knowledge assumption of the model. Furthermore, the Lyapunov–Krasovskii theorem is employed to demonstrate the ultimate boundedness of the error signals. Finally, the computer simulations of the controller were validated on a two-link planar EJRM.</p>

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High-gain differentiator-based backstepping and adaptive derivative-free control of elastic joint robots

  • 期刊论文

  • 发表日期：

    2025年11月26日

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  • Belkacem Rahmani,
  • Mohammed Belkhiri,
  • Abdelhamid Rabhi

摘要

In this paper, a new control architecture is presented that employs a backstepping controller based on the high-gain observer (HGO) signal differentiation property, augmented with adaptive derivative-free (DF) control for elastic joint robotic manipulators (EJRM). The proposed strategy offers an alternative approach to address the challenges related to the explosion of terms and uncertainty in such systems. Specifically, this work introduces a high-gain differentiator (HGD) to estimate the first derivative of the virtual stabilizing functions that appear in the backstepping procedure, replacing the need for analytic differentiation. In addition, derivative-free adaptive control was used to approximate the main nonlinearities in the robot dynamics, relaxing the knowledge assumption of the model. Furthermore, the Lyapunov–Krasovskii theorem is employed to demonstrate the ultimate boundedness of the error signals. Finally, the computer simulations of the controller were validated on a two-link planar EJRM.