An adaptive H∞ control for robotic manipulators with input torque uncertainties and its experimental evaluations

This paper proposes an adaptive control method for robotic manipulators with input toque uncertainties. For each link of manipulators, it is assumed that the input torque uncertainties can be divided into unknown parameters term and bounded disturbance term. In addition, all the parameters for input torque uncertainties and robot are unknown. The proposed method ensures that the unknown parameters are estimated adaptively. Moreover, our proposed method can attenuate not only the external input torque disturbances but also estimation errors of unknown parameters in the notion of H∞ control performance. In spite of considering the nonlinear adaptive H∞ control problems, the compensator can design without solving the Hamilton-Jacobi-Isaacs equation. Simulation and experimental results are given to illustrate the effectiveness of our proposed method.