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Robust control of rigid robots

This paper presents a simple robust control for rigid robots based on the Lyapunov approach. First, the stability and performance are established with a rather general nonlinear switching surface. Then a design example of the nonlinear switching surface with experiment results are given. Besides its simplicity and robustness, the salient features of the proposed controller are its capability of giving a reduced tracking error in the steady-state and reduced control efforts in the transient-state.