<![CDATA[Control of robotic manipulators is essential to ensure precise motion, especially when the robot is required to reach specific positions during object handling tasks. During object transportation, variations in the system dynamics may occur, leading to changes in the robot’s motion. Various backstepping-based control methods have been proposed; however, their effectiveness under disturbance conditions still requires further investigation. This paper considers four variants of backstepping control: conventional Backstepping, Adaptive Backstepping, Integral Backstepping, and Disturbance Observer (DoB)-based Backstepping. The evaluation is carried out through simulation under two scenarios: nominal conditions (without disturbance) and disturbance conditions, where a torque reduction is introduced. The results show that Adaptive Backstepping and DoB-based Backstepping achieve better performance compared to conventional Backstepping and Integral Backstepping, with RMSE increases of only 0.03% and 3.1%, respectively. In contrast, the conventional Backstepping and Integral Backstepping methods exhibit a significant degradation in performance, with RMSE increases exceeding 300%.]]>
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