Decentralized robust control of mechanical systems

For mechanical systems described by Euler-Lagrange equations and involving high-order interconnections, this paper proposes a decentralized control, w hich guarantees the uniform ultimate stability when the control objective i s tracking a smooth desired trajectory. The controller design is based on s ome physical properties of such systems and Lyapunov design methodology [3] . The application of the proposed controller to robot manipulators is prese nted, and experiment results are included to illustrate the performance of the proposed control algorithm.