Robust Tracking Control for Constrained Robots
This work addresses control challenges for robots operating in constrained and uncertain environments, which is an incremental advancement in robotic control systems.
The paper tackles the problem of robust tracking control for constrained robots in unknown stiffness environments, proposing a novel control law and proving its stability and robustness using a Lyapunov-based approach, with validation on a 3DOF robotic arm.
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.