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Exponentially stable robust control law for robot manipulators

✍ Scribed by Yu, H.; Seneviratne, L.D.; Earles, S.W.E.

Book ID: 114449561
Publisher: The Institution of Electrical Engineers
Year: 1994
Tongue: English
Weight: 522 KB
Volume: 141
Category: Article
ISSN: 1350-2379
DOI: 10.1049/ip-cta:19941507

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In this paper the problem of robust tracking for robot manipulators in the presence of uncertainty and input constraints is studied. Using the theory of uncertain dynamical systems, robust non-linear control strategies, with guaranteed tracking properties that can be quantified given bounds on the e