Robust-Control Of Robots By The Computed Torque Law
Title - Alternative
Syst. Control Lett.
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.
Systems & Control Letters
Qu, Z H.; Dorsey, J F.; Zhang, X F.; and Dawson, D M., "Robust-Control Of Robots By The Computed Torque Law" (1991). Faculty Bibliography. 1428.