A new stable tracking control scheme for robotic manipulators

Research output: Journal Publications and ReviewsRGC 21 - Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)510-516
Journal / PublicationIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Issue number3
Publication statusPublished - 1997
Externally publishedYes


This paper considers tracking control of robots in joint space. A new control algorithm is proposed based on the well-known computed torque method and a compensating controller. The compensating controller is realized by using a switch-type structure and an RBF neural network. It is shown that stability of the closed loop system and better tracking performance can be established based on Lyapunov theory. Simulation results are also provided to support our analysis. © 1997 IEEE.

Research Area(s)

  • Convergence, Neural networks, Robots, Simulation, Tracking control