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

Abstract EN

The H ∞ regulation problem for robot manipulators using gravitational force compensation or precompensation has been solved locally while global asymptotical stability (or global stability) has been demonstrated using other methodologies.

A solution to the global nonlinear H ∞ regulation problem for l -degrees-of-freedom ( l -DOF) robot manipulators, affected by external disturbances, is presented.

We showed that the Hamilton-Jacobi-Isaacs (HJI) inequality, inherited in the solution of the H ∞ control problem, is satisfied by defining a strict Lyapunov function.

The performance issues of the nonlinear H ∞ regulator are illustrated in experimental and simulation studies made for a 3-DOF rigid links robot manipulator.