Robust tracking control of robots by a linear feedback law

For the trajectory following problem of a robot manipulator, a simple linear robust fedback control law with constant gain matrix is proposed that makes the resulting error system uniformly ultimately bounded. This control law is very easy to implement by simply choosing a feedback gain according to the coefficients of a polynomial function of the tracking errors which is a bounding function for the terms in the Lagrange-Euler formulation. In the limit as the gain approaches infinity the error system becomes globally asymptotically stable