Robust control for constrained robot manipulators

In this paper, a robust control law for constrained manipulators with param etric uncertainties is derived. Two schemes are presented; the first, based on The Corless-Leitmann approach, will guarantee ultimate uniform stabilit y of the system, and hence uniform boundedness errors convergence. As a sec ond approach, a class of continuous feedback controls is proposed to guaran tee asymptotic stability of the uncertain system. The analysis is based on a theoretical result of asymptotic stability. In this approach, due to the continuity of the control and asymptotic stability of the system, we can ac hieve acceleration convergence and, thus, constraint force convergence.