Robust H-infinity Trajectory Tracking Controller for a 6 D.O.F PUMA 560 Robot Manipulator

摘要

This paper deals with the design problem of an Hinfin observer for robot manipulators in the presence of external perturbations. The proposed scheme is an application of an H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">infin</sub> filter to the class of robotic manipulator systems in order to guarantee disturbance attenuation of the observation error and the asymptotic stabilization of the estimation error. Using a stabilizing control law, a stabilization result based on the weak detectability of the system is obtained and the semi-global asymptotic stability of the equilibrium point of the combined system is shown. Simulation results on a six D-O-F PUMA 560 robot manipulator show the asymptotic convergence of the reconstruction and tracking error vectors.