A STRATEGY FOR ULTIMATE BOUNDED CONTROL OF ROBOT ARMS WITH DISTURBANCES AND UNCERTAINTIES

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.