Nonlinear H, Control of Robotic Manipulator

摘要

H, control theory for nonlinear systems has been developed, which is based on the concept of the en-ergy dissipation. A nonlinear H, controller using the energy dissipation is designed in the sense of La-gain attenuation from a disturbance to performance and it is essential to find the solution of the Hamil-ton Jacobi (HJ) equation (or inequality) for applica-tion However, it is dificult to obtain its solution in general. In this paper, the robot dynamics is trans-formed to a afine form to express the HJ inequality as a more tractable form, i.e., a nonlinear matrix in-equality (NLMI), and its approximated solution is ob-tained from the fact that the terms in matrices which describe robot manipulator can be bounded. 1