Journal article
Robust Tracking Control for Rigid Robotic Manipulators
M Zhihong, M Palaniswami
IEEE Transactions on Automatic Control | Published : 1994
DOI: 10.1109/9.273355
Abstract
The problem of robust tracking control using a nominal feedback controller and a variable structure compensator for a rigid robotic manipulator with uncertain dynamics is addressed in this note. It is shown that the effects of large system uncertainties can be eliminated and asymptotic convergence of the output tracking error can be guaranteed by using a variable structure compensator in the closed loop feedback control system for the rigid robotic manipulator. © 1994, IEEE. All rights reserved.