D. Cai and Y. Dai (Japan)
Robust control, Robot control, Lyapunov stability, Slide mode control
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 the ory 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 con trol scheme, a desired transient error performance may be achieved by choosing appropriate control parameters.
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