Lyapunov recursive design of robust tracking control with L/sub 2/-gain performance for electrically-driven robot manipulators

This paper develops a new Lyapunov recursive design for the robust tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty. The novelty is in the strategy to construct such a Lyapunov function recursively that ensures not only stability of a tracking error system but also an L/sub 2/-gain constraint for the tracking performance.