In this paper, we show that feedback-linearization in conjunction with the passivity property of rigid robots can guarantee the robustness of the closed-loop robotic system despite large uncertainties in the inertia matrix. The approach may be extended to the case of uncertain velocity-dependent terms under additional assumptions.
American Control Conference
Awards Planning & Policy Committee, Control design, Design engineering
Abdallah, Chaouki T. and R. Jordan. "A positive-real design for robotic manipulators." American Control Conference (1990): 991-992. http://digitalrepository.unm.edu/ece_fsp/109