Analysis and Synthesis of Global Nonlinear H∞ Controller for Robot Manipulators

An Adaptive Impedance Controller for Robot Manipulators

A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...

Robustness Improvement of a Nonlinear H Controller for Robot Manipulators via Saturation Functions

In this paper, previous works on nonlinear H control for robot manipulators are extended. In particular, integral terms are considered to cope with persistent disturbances, such as constant load at the end-effector. The extended controller may be understood as a computed-torque control with an external PID, whose gain matrices vary with the position and velocity of the robot joints. In addition...

A Class of Nonlinear PID Global Regulators for Robot Manipulators

Robust control of robot manipulators using hybrid H∞/adaptive controller

A robust hybrid control method for robot manipulators is proposed which integrates an Ha controller and an adaptive controller. The Ha controller is used to minimize the effect of parameter uncertainties of the robot model on the tracking performance, while the adaptive controller continuously adjusts the model parameters to reduce the model error. Simulations show that disturbances generated f...

Nonlinear H-inf Control with Pid Structure for Robot Manipulators

In this paper the nonlinear H1 con trol for robot manipulators introduced in (F eng, W., P ostleth w aite, I., 1994) is extended. An additional in tegral term is included to cope with persistent disturbances, such as constant weigh ts at theendefecctor. The extended controller is in terpreted like a computed torque control with and external PID, whose gain matrices vary with the position and ve...