Abstract
In this paper, an adaptive backstepping controller is proposed for position tracking of a mechanical system driven by an induction motor. The mechanical system is a single link fixed on the shaft of the induction motor such as a single‐link robot. The backstepping methodology provides a simpler design procedure for an adaptive control scheme and provides a method to define the sliding surface if the robust slidingmode control is applied. Thus, the backstepping control can be easily extended to work as an adaptive sliding‐mode controller. The presented position control system is shown to be stable and robust to parameter variations and external disturbances. The effectiveness of the proposed controllers is demonstrated in experiments.
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