Title: A robust adaptive H_∞ control for robotic manipulators with input torque uncertainties

Authors: Kazuya Sato, Takanori Nakashima, Kazuhiro Tsuruta

Addresses: Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1-Honjo, Saga, Japan. ' Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1-Honjo, Saga, Japan. ' Department of Biorobotics, Faculty of Engineering, Kyushu Sangyo University, 2-3-1 Matsukadai, Higashi-ku, Fukuoka, Japan

Abstract: This paper proposes an adaptive control method for robotic manipulators with input toque uncertainties. For each link of manipulators, it is assumed that the input torque uncertainties can be divided into unknown parameters term and bounded disturbance term. In addition, all the parameters for input torque uncertainties and robot are unknown. The proposed method ensures that the unknown parameters are estimated adaptively. Moreover, our proposed method can attenuate not only the external input torque disturbances, but also the estimation errors of the unknown parameters in the notion of H_∞ control performance. In spite of considering the non-linear adaptive H_∞ control problems, the compensator can design without solving the Hamilton-Jacobi-Isaacs equation. Simulation and experimental results are given to illustrate the effectiveness of our proposed method.

Keywords: robotic manipulators; adaptive control; nonlinear control; H_∞ control; robot control; input toque uncertainty; link position; tracking control.

DOI: 10.1504/IJAMECHS.2008.022010

International Journal of Advanced Mechatronic Systems, 2008 Vol.1 No.2, pp.116 - 124

Published online: 16 Dec 2008 *

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