论文信息 - Global asymptotic stability of bounded output feedback tracking control for robot manipulators

Global asymptotic stability of bounded output feedback tracking control for robot manipulators

This paper shows that global asymptotic stability of the closed-loop system formed by an output feedback tracking bounded controller (previously reported in the literature) for robot manipulators in presence of sufficiently large viscous friction, can be achieved provided that a feedforward compensation term of the viscous friction is added to the controller.

V. Santibanez | R. Kelly

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