Robust control and optimal analysis of a customized robotic arm with H<inf>2</inf> and H<inf>∞</inf> compensators

摘要

In the field of robotics, design and control of robotic limbs is contributing towards the development and study of robots which can closely mimic human motions. In this paper, robust control of a customized robotic Gripper Arm is discussed. Stability analysis in the presence of uncertainties is carried out on a model of the Gripper, with and without the integration of H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> and H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> compensators. The results suggest the advantage of utilizing the said compensators on the system stability, a comparison of the two techniques is also made and an optimal compensator is discussed for each model.