Global stability analysis for some trajectory-tracking control schemes of robotic manipulators

With a same Lyapunov function defined, the stability, robustness and convergence speed of three widely used trajectory-tracking control schemes, i.e., the PD control, the PD control with a feedforward compensation and the PD control with a calculated feedforward compensation, are presented. All the three control schemes are globally and exponentially convergent. The trajectory-tracking features of the three control schemes are theoretically analyzed and compared. Suggestions are given for the choices of the control parameters.