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

    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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