Robust Tracking Control Of Robots By A Linear Feedback Law

    Authors

    Z. H. Qu;J. Dorsey

    Comments

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    Abbreviated Journal Title

    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.

    Journal 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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