Robust-Control Of Robots By The Computed Torque Law

    Authors

    Z. H. Qu; J. F. Dorsey; X. F. Zhang;D. M. Dawson

    Comments

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    Abbreviated Journal Title

    Syst. Control Lett.

    Abstract

    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.

    Journal Title

    Systems & Control Letters

    Volume

    16

    Issue/Number

    1

    Publication Date

    1-1-1991

    Document Type

    Article

    Language

    English

    First Page

    25

    Last Page

    32

    WOS Identifier

    WOS:A1991EW42500004

    ISSN

    0167-6911

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