Stabilizing Controller Design for Linear Systems with Sensor or Actuator Failures

This note proposes a robust control law for d i n k robotmanipulators with parametric uncertainty whose upper bound is notassumed to be known. The proposed robust control based on the Cor-less-Leitmann approach includes a simple estimation law for the upperbound on the parametric uncertainty and an additional control inputtobe updated as a function of the estimated value. Using the Lyapunovstability theory, theuniform ultimate boundedness of the tracking erroris proved.