Robust H<sup>∞</sup> intelligent tracking control for robot manipulators

摘要

A novel robust H <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sup> intelligent control (RHIC) strategy is proposed for the trajectory following problem of robot manipulators. The proposed system is comprised of a computed torque controller and neural robust controller. Based on Lyapunov stability theorem, it is shown that the proposed controller can guarantee H <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sup> tracking performance of robotic system, in the sense that all variables of the closed-loop system are bounded and the effect due to the external disturbance on the tracking error can be attenuated to any pre-assigned level. The proposed approach indicates that computed torque control method is also valid for controlling uncertain robotic manipulators as long as compensative controller is appropriately designed.