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274 Robust Control of Robotic Manipulators

Figure 5.2.3: K p=225, K v=30 (a) errors of joint 1; (b) errors of joint 2; (c) torques of
joints 1 and 2.

and a subsection dealing with the more general dynamic controllers, which
have similar gains in general.

Static Controllers
These controllers have the same structure as the ones described in Section
4.4 and in the preceding section. The difference is that here we show the
stability of the error using input-output concepts rather that the state-space
methods implied by Lyapunov theory. In [Craig 1988] the boundedness of

Copyright © 2004 by Marcel Dekker, Inc.