Regulation of Robot Manipulators in Joint Space via Vector Control Lyapunov Function Approach

In this paper, we study robust asymptotic regulation of robot manipulators with external disturbance rejection. The main control goal is to present a linear control law that can drive the manipulator joint angles to their desired positions. We shall develop a vector control Lyapunov function approach for the problem. Particularly, we show an interesting estimate of the relevant region of attraction. Compared with the conventional scalar Lyapunov approach, our study leads to not only a stability analysis based on a comparison system for the closed-loop system but also a subsystem-based design procedure for resolving control problems relating to multivariable systems. A numerical example is also given to illustrate the proposed result.