Robust Hybrid Control for Robot Manipulators

로보트 매니퓰레이터의 강인한 하이브리드 제어

In this paper a robust hybrid control algorithm for n-link nonredundant robot manipulators is proposed. This scheme includes an estimation law for the upper bound on the uncertainty such that robust control input is updated as a function of the estimated upper bound. The uniform ultimate boundedness of the tracking error is generated by the Lyapunov based theory.