MANIPULATION
Global asymptotic stability of bounded output feedback tracking control for robot manipulators
V. Santibanez, R. Kelly
- Year
- 2002
- Citations
- 4
Abstract
This paper shows that global asymptotic stability of the closed-loop system formed by an output feedback tracking bounded controller (previously reported in the literature) for robot manipulators in presence of sufficiently large viscous friction, can be achieved provided that a feedforward compensation term of the viscous friction is added to the controller.
Keywords
Control theory (sociology)Bounded functionExponential stabilityFeed forwardTracking (education)Controller (irrigation)Compensation (psychology)Stability (learning theory)Robot manipulatorFeedback controller
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