Re-thinking the robust control of robot manipulators

The authors describe two classes of robust controllers for the tracking of robot motion. The controllers are simple linear proportional derivative (PD) controllers plus a nonlinear term that compensates for the uncertainties present in the manipulator dynamic equation. The main result is that it is explicitly shown that the response of the tracking error can be modified by adjusting the control parameters. The corresponding stability result for the tracking error for the two classes of controllers presented are global uniform ultimate boundedness and global exponential stability.<
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