DocumentCode
883086
Title
Comments on "On the robust control of robot manipulators by M.W. Spong
Author
Yaz, Engin
Author_Institution
Dept. of Electr. Eng., Arkansas Univ., Fayetteville, AR, USA
Volume
38
Issue
3
fYear
1993
fDate
3/1/1993 12:00:00 AM
Firstpage
511
Lastpage
512
Abstract
In the above-title paper (ibid., vol.37, no.11, pp.1782-1786, Nov. 1992) a simple robust control is given for guaranteeing uniform ultimate boundedness of tracking errors for n-link robot manipulators. It is pointed out here that an equally simple control law, which is also continuous in nature, can guarantee global exponential stability of tracking errors under the same set of conditions.<>
Keywords
manipulators; position control; stability; global exponential stability; robot manipulators; robust control; tracking errors; uniform ultimate boundedness; Automatic control; Convergence; Error correction; Feedback control; Lyapunov method; Manipulator dynamics; Robotics and automation; Robots; Robust control; Stability;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.210162
Filename
210162
Link To Document