Robust control of manipulatorsusing the computed torque plus H _∞ compensation method

摘要

A new robust control scheme called the computed torque plus H∞ compensation method is developed to control a robotic manipulator with payload and actuator uncertainties. The method linearises and decouples the nonlinear and coupled dynamic equations of a manipulator by the computed torque approach. Then the remaining uncertainty is compensated by the H∞ control technique. In the H∞ control synthesis process the technique of internal weight is applied to select the proper weights. Simulation results indicate that the computed torque plus H∞ compensation method indeed exhibits better tracking performance than computed torque alone.