Title

Robust Tracking Control For Robot Manipulators: Theory, Simulation, And Implementation

Keywords

Robots; Robust controller; Tracking control

Abstract

In this paper, we propose a robust controller for the tracking of robot motion. This controller is a nonlinear-based controller that compensates for the uncertainties present in the manipulator dynamic equation. The main result of this paper is that we explicitly show how the response of the tracking error can be modified by adjusting the control parameters. The corresponding stability result for the tracking error is Global Exponential Stability (GES). We then illustrate how similar control approaches are related to the proposed controller. Finally, simulation and experimental results are utilized to illustrate the performance of the robust controller. © 1993, Cambridge University Press. All rights reserved.

Publication Date

1-1-1993

Publication Title

Robotica

Volume

11

Issue

3

Number of Pages

201-208

Document Type

Article

Identifier

scopus

Personal Identifier

scopus

DOI Link

https://doi.org/10.1017/S0263574700016064

Socpus ID

0027590198 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0027590198

This document is currently not available here.

Share

COinS