Stability robustness and robustification of the exact linearization method of robotic manipulator control

Abstract

Exact linearization is a convenient method for designing controllers for robotic manipulators. However, these controllers require fairly accurate modeling of the robot dynamics and may become unstable in the presence of significant model uncertainties. We derive several new stability robustness bounds for exact linearization of robotic manipulator controllers. We also provide a robustification technique that guarantees global exponential convergence to zero (ECZ) for bounded uncertainty.