A New Class Of Robust-Control Laws For Tracking Of Robots
Abbreviated Journal Title
Int. J. Robot. Res.
A new class of robust control algorithms is proposed for the trajectory following problem of a robot manipulator It is shown that every proposed control can guarantee three kinds of global stability results based on the designer's choice: uniformly and ultimately bounded stability, asymptotic stability, and exponential stability. Exact knowledge of robot dynamics is not required except that unknown dynamics must be bounded in Euclidean norm by a second-order polynomial function with known coefficients.
International Journal of Robotics Research
"A New Class Of Robust-Control Laws For Tracking Of Robots" (1994). Faculty Bibliography 1990s. 1155.