On L/sub 2/- and L/sub infinity /-stability approaches for the robust control of robot manipulators

Robustness results were recently obtained for the linear and nonlinear control of robot manipulators using the L/sub 2/- and L/sub infinity /-stability approaches, respectively. Critical remarks on these approaches and further investigations are presented. In order to investigate L/sub 2/-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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