On L/sub 2/- and L/sub infinity /-stability approaches for the robust control of robot manipulators

Abstract

Robustness results were recently obtained for the linear and nonlinear control of robot manipulators using the L/sub 2/- and L/sub infinity /-stability approaches, respectively. Critical remarks on these approaches and further investigations are presented. In order to investigate L/sub 2/-stability, it is shown that additional assumptions have to be made and a reformulation of the control problem has to be carried out.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>