Title

Robust Tracking Control Of Robots By A Linear Feedback Law

Authors

Z H. Qu
J Dorsey

Title - Alternative

IEEE Trans. Autom. Control

Abstract

For the trajectory following problem of a robot manipulator, a simple linear robust feedback control law with constant gain matrix is proposed that makes the resulting error system uniformly ultimately bounded. This control law is very easy to implement by simply choosing a feedback gain according to the coefficients of a polynomial function of the tracking errors which is a bounding function for the terms in the Lagrange-Euler formulation. In the limit as the gain approaches infinity (he error system becomes globally asymptotically stable.

Publication Title

Ieee Transactions on Automatic Control

Volume

36

Issue/Number

9

Publication Date

1-1-1991

Document Type

Note

Language

English

First Page

1081

Last Page

1084

WOS Identifier

WOS:A1991GC11000013

ISSN

0018-9286

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