الخلاصة:
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
