MANIPULATION
Comments on "On the robust control of robot manipulators by M.W. Spong
Edwin E. Yaz
- Year
- 1993
- Citations
- 27
Abstract
In the above-title paper (ibid., vol.37, no.11, pp.1782-1786, Nov. 1992) a simple robust control is given for guaranteeing uniform ultimate boundedness of tracking errors for n-link robot manipulators. It is pointed out here that an equally simple control law, which is also continuous in nature, can guarantee global exponential stability of tracking errors under the same set of conditions.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
Simple (philosophy)Control theory (sociology)RobotSet (abstract data type)Robust controlExponential stabilityComputer scienceControl (management)Tracking (education)Stability (learning theory)
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