We reinterprete and improve recent results on robust control of robots by the computed method. The methods and ideas used are inspired by `passivity based¿ control methods for robot manipulators and lead to a significant increase in freedom of controller implementation, thereby providing more flexibility to the designer of robot control systems.
- Tracking control
- Unknown dynamics
- Lyapunov stability
Berghuis, H., Nijmeijer, H., & Löhnberg, P. (1992). An addendum on "Robust control of robots by the computed torque method". Systems and control letters, 18(5), 403-407. https://doi.org/10.1016/0167-6911(92)90031-M