Position funnel control for rigid revolute joint robotic manipulators with known inertia matrix

This paper presents funnel control for position control of rigid, revolute joint, n-degree-of-freedom (DOF) robotic manipulators with known inertia matrix. The multi-input multi-output (MIMO) funnel controller assures reference tracking with `prescribed transient accuracy', i.e., for each joint, the absolute value of position and speed tracking error (difference between reference and actual value) is bounded by a prescribed, positive (possibly non-increasing) function of time (the `funnel boundary'), respectively.