Conference Proceedings
A robust tracking control scheme for robotic manipulators with uncertain dynamics
M Zhihong, M Palaniswami
Proceedings of the IEEE International Conference on Systems Engineering | Published : 1992
Abstract
A variable structure compensator is designed for the closed loop feedback control system of a robotic manipulator with uncertain dynamics. It is shown that the closed loop system with a variable structure compensator not only behaves with a strong robustness property with respect to large uncertain dynamics, but also makes the output tracking error converge to zero asymptotically.