Robust Tracking Control for Robot Systems with Discontinuous Uncertainty: An Approach Based on Filippov's Framework

摘要

In this paper, the robust tracking control problem for a rigid robot with discontinuous uncertainty is considered. The controller design approach is based on Filippov's framework and generalized Lyapunov stability theory. It is shown that no Lipschitz continuous controller to stabilize the error system asymptotically exists because of the existence of nontrivial equilibrium set including the origin. A robust controller which makes the error system asymptotically stable is derived in Filippov's framework.