On global trajectory tracking control of robot manipulators with a delayed feedback
In this paper, the trajectory tracking control problem of a robot manipulator with cylindrical joints is considered by means of a nonlinear PD controller taking into account the delayed feedback structure. The conclusion about stability of a closed-loop system is obtained on the basis of the development of the direct Lyapunov method in the study of the stability property for a non-autonomous functional differential equation by constructing a Lyapunov functional with a semi-definite time derivative.
CYBERNETICS AND PHYSICS, Vol. 10, No. 4. 2021, 231-239. https://doi.org/10.35470/2226-4116-2021-10-4-231-239