A STRATEGY FOR ULTIMATE BOUNDED CONTROL OF ROBOT ARMS WITH DISTURBANCES AND UNCERTAINTIES
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Abstract
This paper studies the stabilization problem on RA,i.e.robot arm,in the face of disturbance and uncertainty.A new control strategy consisting of a torque generatorand a linear continuous stabilizer is developed.It is shown the exact RA model is notrequired and ultimate boundedness stability of RA is guaranteed in the strategy presented.Moreover,this strategy is tolerable to a certain degree of computation error.
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