Title

A New Class Of Robust Control Laws For Tracking Of Robots

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: uni formly 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. © 1994, Sage Publications. All rights reserved.

Publication Date

1-1-1994

Publication Title

The International Journal of Robotics Research

Volume

13

Issue

4

Number of Pages

355-363

Document Type

Article

Identifier

scopus

Personal Identifier

scopus

DOI Link

https://doi.org/10.1177/027836499401300407

Socpus ID

0028485193 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0028485193

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