Dealing with time-varying parameter problem of robot manipulators performing path tracking tasks

Using the properties of the element by element (or Hadamard) product of matrices, the authors obtain the robot dynamics in parameter-isolated form, from which a new control scheme is developed. The controller proposed yields zero asymptotic tracking errors when applied to robotic systems with time-varying parameters by using a switching type control law. The results obtained are global in the initial state of the robot, and can be applied to rapidly varying systems.>