A novel robust algorithm for controlling robotic manipulators

The purpose of this paper is to present a new technique for controlling complex non-linear dynamical systems. This algorithm is based on Lyapunov stability theory and it guarantees that the trajectories will converge globally-uniformly-asymptotically-stable to their respective equilibrium points. This new controller is shown to be insensitive to unmodeled dynamics and robust with respect to bounded uncertainties. This control law is applied through computer simulations to a robotic manipulator and it promises to be a very useful tool for realtime applications.