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On L2- and L-stability approaches for the robust control of robot manipulators

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2 Author(s)
Becker, N. ; Inst. fuer Mess- und Regelungstech., Duisburg Univ., West Germany ; Grimm, W.M.

Robustness results were recently obtained for the linear and nonlinear control of robot manipulators using the L2- and L -stability approaches, respectively. Critical remarks on these approaches and further investigations are presented. In order to investigate L2-stability, it is shown that additional assumptions have to be made and a reformulation of the control problem has to be carried out

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Automatic Control, IEEE Transactions on  (Volume:33 ,  Issue: 1 )