Inverse optimal H<inf>∞</inf> disturbance attenuation of robotic manipulators

摘要

This paper deals with an inverse optimal Η <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> , disturbance attenuation of the Euler Lagrange systems. The ISS control Lyapunov function is constructed by the energy function of full Lagrangian dynamics, i.e. the Euler-Lagrange systems are input-to-state stabilizability. The ISS-CLF gives us an inverse optimal H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> control law. Further, we discuss that the inverse optimal H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> controller has robustness against input uncertainties.