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A secondary controller for online time scaling of nominal high-performance trajectories has been proposed to handle path following with torques close to the limits. Such nominal reference trajectories are typically available from an offline optimization. The stability properties of a closed-loop system including a robot, a primary controller, and a new secondary controller are studied. The analysis shows that if the nominal velocity profile is within certain limits, the result is a bounded actual velocity profile. The stability of the closed-loop system is then obtained by requiring a specified tracking performance for the primary controller.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Dahl et al. (2002) studied this question.
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