Title

A New Class Of Robust-Control Laws For Tracking Of Robots

Authors

Authors

Z. H. Qu; D. M. Dawson; S. Y. Lim;J. F. Dorsey

Comments

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Abbreviated Journal Title

Int. J. Robot. Res.

Keywords

Robotics

Abstract

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.

Journal Title

International Journal of Robotics Research

Volume

13

Issue/Number

4

Publication Date

1-1-1994

Document Type

Article

Language

English

First Page

355

Last Page

355

WOS Identifier

WOS:A1994NZ06400007

ISSN

0278-3649

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