Current approaches to the robust control of the motion of rigid robots are surveyed, and the available literature is summarized. The five major design approaches discussed are the linear-multivariable approach, the passivity approach, the variable-structure approach, the saturation approach, and the robust-adaptive approach. Some guidelines for choosing a method are offered.
Control Systems Magazine
Adaptive control, Control systems, Lagrangian functions, Programmable control
Abdallah, Chaouki T.; D. Dawson; Peter Dorato; and M. Jamshidi. "Survey of robust control for rigid robots." Control Systems Magazine 11, 2 (1991): 24-30. doi:10.1109/37.67672.