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Lyapunov function-based control laws for revolute robot arms: Tracking control, robustness, and adaptive control. (English) Zbl 0766.93059
A new class of joint level control laws for all-revolute robot arms is introduced. The key new idea is that for an all revolute arm, the potential energy in the energy Lyapunov function is chosen to reflect the natural topology of the underlying joint-error space which is the $$N$$- torus rather than $$R^ n$$, and thus, the stability analysis is simplified. In particular, a new class of globally stable tracking controllers is developed. Three cases are considered: parameters known exactly, parameters known within a bounded error, and parameters imprecisely known but adaptively updated, and global asymptotic stability for all three cases is shown.
Reviewer: Y.V.Krak (Kiev)

##### MSC:
 93C85 Automated systems (robots, etc.) in control theory 93D05 Lyapunov and other classical stabilities (Lagrange, Poisson, $$L^p, l^p$$, etc.) in control theory 93C40 Adaptive control/observation systems
##### Keywords:
all-revolute robot arms; global asymptotic stability
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