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