A robust control scheme for asymptotic tracking of robot motion

MagdiSadek Mahmoud, Samir Kotob

Research output: Contribution to journalJournal articlepeer-review


In this paper, a controller structure is developed to provide for asymptotic tracking of robot motion. The design tool is the theory of hyperstability and the analysis has led to a simple and an easy-to-implement robust version of the inverse dynamics. Simulation studies are worked out to demonstrate the controller performance. A comparison with other methods is done to show the merits of the developed scheme vs. other recently developed schemes. The implementation and computational requirements of the control schemes are determined and shown to be within the capabilities of new control hardware.

Original languageEnglish
Pages (from-to)263-282
Number of pages20
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number3
StatePublished - Nov 1995
Externally publishedYes


  • hyperstability theory
  • PUMA 560 robot arm
  • robot motion
  • Robust control


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