Smooth robust tracking controllers for uncertain robotic manipulators

In this paper two smooth robust tracking controllers for uncertain robot manipulators are presented. The proposed controllers yield smooth acceleration response. A deterministic approach is adopted in developing the controllers. Lyapunov direct method is used and a nonlinear Lyapunov function is employed to prove the stability of the system. The first controller is shown to render the closed-loop system practically stable, forcing the state tracking error to converge exponentially to a small neighborhood of the origin