Stability and robustness of a class of nonlinear controllers for robot manipulators

摘要

The stability and robustness analysis of PD-plus-feedforward controllers comprised of a nonlinear gain PD feedback controller and a nominal manipulator dynamics feedforward term is presented for the tracking control of rigid robot manipulators. Exponential convergence and the uniform ultimate boundedness of the tracking errors are established. Finally, simulation results are also presented.