Robust control of robot manipulators: A survey

This paper presents an overview of robust control schemes for robot manipulators. The survey summarizes the vast literature on the subject. The different modelling assumptions used in current control algorithms are thoroughly reviewed. The survey includes models of actuator dynamics and joint flexibility. The different control schemes are organized in the following six categories: linear schemes, passivity-based schemes, Lyapunov-based schemes, sliding mode control schemes, non-linear H omega schemes and robust adaptive control schemes. Connections and comparisons are made between the various algorithms.