An approach to robust control of robot manipulators

A robust control scheme which can be applied to single-input single-output nonlinear systems as well as to robot manipulators is derived. Better tracking in a close vicinity of the desired trajectory is performed by using spline functions rather than linear ones. The proposed algorithm guarantees smooth enough control and low steady state tracking error. Global stability of the closed-loop dynamics is achieved as well. The approach can be successfully applied to continuous minimum-time robot control. >