An adaptive H∞ control for robotic manipulator with compensation of input torque uncertainty

This paper examines the problem of link position tracking control for robot manipulators with input toque uncertainty. It is assumed that the input torque uncertainty can be regarded as dead-zone phenomena at each link of manipulator and all the system parameters for robotic manipulator and dead-zone model are unknown. The proposed method ensures that the unknown parameters are estimated adaptively, besides, an approximated errors of input nonlinearities and external disturbances are attenuated by means of H∞ control performance. In spite of considering the nonlinear adaptive H∞ control problems, based on our proposed method, the compensator can design without solving the Hamilton-Jacobi-Isaacs equation. Numerical simulation results are given to illustrate the effectiveness of our proposed method.