Global H/sub /spl infin// control design for tracking control of robot manipulators

摘要

Global H/sub /spl infin//-controller synthesis is developed for tracking control of robot manipulators. The synthesis of the controller is based on Lyapunov function instead of solving the HJI equation. Theoretical result is supported by simulation of the H/sub /spl infin// tracking control of a two link robot manipulator.