An encompassing formalization of robust computed torque schemes of robot systems

Abstract : This paper deals with the tracking control of robot systems in presence of perturbations such as modelling errors and disturbance forces. More specifically, this paper aims at reviewing the well-established robust computed torque controller. The first goal consists in establishing a global and encompassing formalization for a large class of robust computed torque schemes by using a Lyapunov approach. Then the second goal is to use this formalization to improve a particular scheme. It consists in deriving lower gain thresholds by exploiting the passivity property of robot systems.