A globally convergent robust controller for robot manipulator

Abstract

In this paper, we propose a robust nonlinear control scheme for the tracking problem of rigid robot manipulator. In the design of this control scheme, Lyapunov stability theory and some important properties of rigid manipulator are used. With the presented control scheme, the closed-loop system is globally exponentially stable, the output tracking error asymptotically converges to zero. Based on the control scheme, a desired transient error performance may be achieved by choosing appropriate control parameters.