Combining IMC design with H/sub ∞/ control and its application to a two-finger robot hand

Abstract

In this paper, additive effects of a control method derived by combining the internal model control (IMC) and H/sub /spl infin// control are proposed. The proposed method is then applied to tracking control for a two-finger robot hand. The effectiveness of the proposed method is confirmed by comparative experiments. The results obtained show that the proposed method is effective on tracking control and improving the disturbance estimation property.