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Journal of Robotics
Volume 2014, Article ID 241548, 10 pages
Research Article

Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot

1Department of Electrical Engineering and Telecommunications, National Advanced School Polytechnics of the University of Yaoundé I, Yaoundé, Cameroon
2Department of Physics, Faculty of Science of the University of Yaoundé I, Yaoundé, Cameroon

Received 30 April 2014; Accepted 19 August 2014; Published 8 September 2014

Academic Editor: Keigo Watanabe

Copyright © 2014 Jean Bosco Mbede and Joseph Jean-Baptiste Mvogo Ahanda. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper addresses the design of exponential tracking control using backstepping approach for voltage-based control of a flexible joint electrically driven robot (EFJR), to cope with the difficulty introduced by the cascade structure in EFJR dynamic model, to deal with flexibility in joints, and to ensure fast tracking performance. Backstepping approach is used to ensure global asymptotic stability and its common algorithm is modified such that the link position and velocity errors converge to zero exponentially fast. In contrast with the other backstepping controller for electrically driven flexible joint robot manipulators control problem, the proposed controller is robust with respect to stiffness uncertainty and allows tracking fast motions. Simulation results are presented for both single link flexible joint electrically driven manipulator and 2-DOF flexible joint electrically driven robot manipulator. These simulations show very satisfactory tracking performances and the superiority of the proposed controller to those performed in the literature using simple backstepping methodology.