Bounded global tracking of rigid robot manipulators using composite controllers

In this paper we address the problem of designing bounded global tracking controllers for rigid robot manipulators. A solution to the problem is obtained by using composite controllers. In the first part, the system is steered 'close' to the desired trajectory, after which a local tracking controller is applied. Both controllers are bounded and yield boundedness of the composite controller. The use of bounded composite controllers is shown to be effective for state feedback controllers, output (position) feedback controllers and adaptive controllers. Simulations illustrate the developed controllers.