Exponential Controller for Robot Manipulators ∗

Abstract: In this article, we propose a new control algorithm with exponential structure for the position control problem of robot manipulators. We have demonstrated by taking into account the full nonlinear and multivariable nature of the robot dynamics, that the overall closed–loop system is globally asymptotically stable through the Lyapunov’s direct method together with LaSalle invariance principle. Experimental results of the proposed controller are presented on a three–degrees–of–freedom direct drive robot manipulator