Automatica (Journal of IFAC)
An intelligent robust tracking control for electrically-driven robot systems
International Journal of Systems Science
An Algebraic Approach for Accurate Motion Control of Humanoid Robot Joints
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Revising the robust-control design for rigid robot manipulators
IEEE Transactions on Robotics
Computers & Mathematics with Applications
Information Sciences: an International Journal
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By using a state observer, a new robust trajectory tracking control scheme is developed in this paper for electrically driven robot manipulators. The role of the observer is to estimate joint angular velocities. The proposed controller does not employ adaptation, but assures robust stability of tracking error between joint angles and desired trajectories. At sacrificing asymptotical stability of the tracking errors, the configuration of the proposed controller becomes very simple, compared with regressor-based adaptive controllers. It is shown in the closed-loop system using the proposed controller that the Euclidian norm of tracking errors arrives at any small closed region with any convergent rate by setting only one design parameter. Especially for the desired trajectories converging to constant ultimate values, it is assured that tracking errors converge to zero.