Adaptive backstepping control for a single-link flexible robot manipulator driven DC motor

In this paper, an adaptive backstepping control method is developed for a single-link robotic manipulator coupled to a brushed direct current DC motor with a nonrigid joint. The developed method uses the Lyapunov approach. It guarantees the uniform ultimate boundedness of the closed-loop system signals and the tracking error converges to zero asymptotically for any initial conditions. Simulation results also demonstrate the feasibility, effectiveness and advantage of the method.