Robust Tracking Control for Constrained Robots

📝 Original Info

• Title: Robust Tracking Control for Constrained Robots
• ArXiv ID: 1405.1821
• Date: 2014-05-09
• Authors: Researchers from original ArXiv paper

📝 Abstract

In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship between the error dynamics of the robotic system and its energy is investigated. Finally, a 3DOF constrained robotic arm is used to prove the stability, the robustness and the safety of the proposed approach.

💡 Deep Analysis

Deep Dive into Robust Tracking Control for Constrained Robots.

In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship between the error dynamics of the robotic system and its energy is investigated. Finally, a 3DOF constrained robotic arm is used to prove the stability, the robustness and the safety of the proposed approach.

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Reference