Tracking control of robots using Global H infinity robust control
نویسنده
چکیده
Recent success in nonlinear H∞ control design has been applied to control of robot manipulator systems. In this paper a Global H∞ robust controller is considered for tracking control problem of Robotic manipulators. The synthesis of this controller is based on Lyapunov function instead of solving the HJI equation. Performance issues of the Global H∞ robust controller are illustrated in a simulation study made for the two degrees of freedom manipulator controller. Comparison of its performance with the conventional controller of feedback linearization is also made for disturbance attenuation properties for different types of disturbances such as friction and bounded disturbances
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