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A novel robust algorithm for controlling robotic manipulators

✍ Scribed by Ronald A. Perez; James C. Brendelson

Publisher
Elsevier Science
Year
1996
Tongue
English
Weight
383 KB
Volume
333
Category
Article
ISSN
0016-0032

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✦ Synopsis

The purpose of this paper is to present a new technique for controllin 9 complex non-linear dynamical systems. This algorithm is based on Lyapunov stability theory and it 9uarantees that the trajeetories will converge 9lobally-uniformly-asymptotically-stable to their respective equilibrium points. This new controller is shown to be insensitive to unmodeled dynamics and robust with respect to bounded uncertainties. This control law is applied through computer simulations to a robotic manipulator and it promises to be a very useful tool for realtime applications.

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