Exponentially stable robust control law for robot manipulators

H. Yu, L. D. Seneviratne, S. W.E. Earles

Research output: Contribution to journalArticlepeer-review

27 Scopus citations


Robust control has a chattering problem since the control laws are discontinuous functions. To improve this, a boundary layer can be introduced; however the system then loses asymptotical stability and is only globally stable. An exponentially stable robust nonlinear control law for robot manipulators, based on Lyapunov stability theory, is presented. The robust control law is designed using a special Lyapunov function which includes both tracking errors and an exponentially convergent additional term, making the stability proof easy, and guarantees that the tracking errors decrease exponentially to zero. For bounded input disturbances, the control laws, with little modification, maintain satisfactory system performance. The results of a computer simulation for a 2-link manipulator are presented, demonstrating the benefits and robustness of the proposed algorithm.

Original languageBritish English
Pages (from-to)389-395
Number of pages7
JournalIEE Proceedings: Control Theory and Applications
Issue number6
StatePublished - Nov 1994


Dive into the research topics of 'Exponentially stable robust control law for robot manipulators'. Together they form a unique fingerprint.

Cite this