Title

Robust Control Of Robots By The Computed Torque Law

Keywords

asymptotic stability; Lyapunov function; nonlinear uncertainties; robotics; robust control; tracking control; uniform boundedness, ultimate boundedness; unknown dynamics

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. © 1991.

Publication Date

1-1-1991

Publication Title

Systems and Control Letters

Volume

16

Issue

1

Number of Pages

25-32

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1016/0167-6911(91)90025-A

Socpus ID

0026051074 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0026051074

This document is currently not available here.

Share

COinS