Global robust output feedback tracking control of robot manipulators

Abstract

This paper addresses the problem of global output feedback, link position tracking control of robot manipulators in the presence of parametric uncertainty and additive bounded disturbances. Specifically, a Lyapunov-based robust controller is designed to ensure that the link position tracking error is globally, uniformly and ultimately bounded even if only link position measurements are available for measurement. Experimental results are provided to illustrate the controller performance.