Title

Robust Tracking Control Of Robots By A Linear Feedback Law

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 the error system becomes globally asymptotically stable. © 1991 IEEE

Publication Date

1-1-1991

Publication Title

IEEE Transactions on Automatic Control

Volume

36

Issue

9

Number of Pages

1081-1084

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/9.83543

Socpus ID

0026221143 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0026221143

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