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Global robust output feedback tracking control of robot manipulators
W. E. Dixon, E. Zergeroglu, D. M. Dawson
Journal:

Robotica / Volume 22 / Issue 4 / August 2004

Published online by Cambridge University Press:

26 November 2004, pp. 351-357
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This paper addresses the problem of global output feedback, link position tracking control of robot manipulators. Specifically, a robust, Lyapunov-based controller is designed to ensure that the link position tracking error is globally uniformly ultimately bounded despite the fact that only link position measurements are available in the presence of incomplete model information (i.e., parametric uncertainty and additive bounded disturbances).