Title :
Comments on "On the robust control of robot manipulators by M.W. Spong
Author_Institution :
Dept. of Electr. Eng., Arkansas Univ., Fayetteville, AR, USA
fDate :
3/1/1993 12:00:00 AM
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;
Journal_Title :
Automatic Control, IEEE Transactions on
