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arXiv · 1405.1821

Robust Tracking Control for Constrained Robots

Haifa Mehdi·Olfa Boubaker
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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.

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Haifa Mehdi, Olfa Boubaker. 2014-05-08. Robust Tracking Control for Constrained Robots. https://doi.org/10.1016/j.proeng.2012.07.313

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