On the adaptive control of robot manipulators
International Journal of Robotics Research
Linear robust control
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
State observer-based robust control scheme for electrically driven robot manipulators
IEEE Transactions on Robotics
Finite-time tracking control for robot manipulators with actuator saturation
Robotics and Computer-Integrated Manufacturing
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Robust controllers for robot manipulators ensure stability of the closed-loop system, even if only partial knowledge of the dynamic model of the manipulator is available. Existing derivations of robust-control laws, while guaranteeing the stability result, present an undesired dependence of the robust-control term on the gains of the controller for the nominal system. This dependence forces larger robust-control terms when the nominal control gains are large. Based on a structured representation of the model uncertainty, this paper proposes a derivation of the robust-control law, where these limitations are removed. Experimental results on the COMAU SMART 3S industrial robot in a 3-degree-of-freedom (DOF) configuration confirm the advantages of the proposed controller.