Title

Robust-Control Of Robots By The Computed Torque Law

Title - Alternative

Syst. Control Lett.

Abstract

For the trajectory following problem of a robot manipulator, the standard computed torque control law is shown to be robust with respect to unknown dynamics by judiciously choosing the feedback gains and the estimates of the nonlinear dynamics. The choices for the constant gains depend only on the coefficients of a polynomial bound of the unknown dynamics. The asymptotic stability of the position and velocity tracking errors is also investigated.

Publication Title

Systems & Control Letters

Volume

16

Issue/Number

1

Publication Date

1-1-1991

Document Type

Article

Language

English

First Page

25

Last Page

32

WOS Identifier

WOS:A1991EW42500004

ISSN

0167-6911

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