A NEW APPROACH TO DESIGNING STABLE ROBOT CONTROL LAWS

摘要

Develop a novel approach for designing stable robot control laws. It is suggested that nonlinear measure iscapable of quantifying stability of nonlinear systems in the way similar to matrix measure for stability of linearsystems. Using this technique, we explore the stabilty of the nonlinear dynamical system and propose a stable controllaw which will work for general open-chain robot manipulators.