A NEW CLASS OF ROBUST-CONTROL LAWS FOR TRACKING OF ROBOTS

Authors
QU ZH DAWSON DM LIM SY DORSEY JF
Citation
Zh. Qu et al., A NEW CLASS OF ROBUST-CONTROL LAWS FOR TRACKING OF ROBOTS, The International journal of robotics research, 13(4), 1994, pp. 355-363
Citations number
16
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Robotics & Automatic Control
Journal title
The International journal of robotics research → ACNP
ISSN journal
02783649
Volume
13
Issue
4
Year of publication
1994
Pages
355 - 363
Database
ISI
SICI code
0278-3649(1994)13:4<355:ANCORL>2.0.ZU;2-R
Abstract
A new class of robust control algorithms is proposed for the trajector y following problem of a robot manipulator It is shown that every prop osed control can guarantee three kinds of global stability results bas ed on the designer's choice: uniformly and ultimately bounded stabilit y, asymptotic stability, and exponential stability. Exact knowledge of robot dynamics is not required except that unknown dynamics must be b ounded in Euclidean norm by a second-order polynomial function with kn own coefficients.