A New Class of Robust Control Laws for Tracking of Robots

Abstract

A new class of robust control algorithms is proposed for the trajectory following problem of a robot manipulator. It is shown that every proposed control can guarantee three kinds of global stability results based on the designer's choice: uni formly and ultimately bounded stability, asymptotic stability, and exponential stability. Exact knowledge of robot dynamics is not required except that unknown dynamics must be bounded in Euclidean norm by a second-order polynomial function with known coefficients.