Trajectory tracking control of an AMM modelled TLFM using backstepping method

This paper addresses the problem of trajectory tracking control for a planner assumed modes modelled two-link flexible manipulator. A robust backstepping control technique is designed for this control problem. The effectiveness of the proposed trajectory tracking strategy is validated using numerical simulations in MATLAB environment. When compared with other existing control techniques used for trajectory tracking of a TLFM in the presence of uncertainties, it is found that the proposed technique tracks the desired trajectoriesbwith a small tracking error.