H∞ controller design for robust manipulator control

Koichi Hashimoto, Masashi Kawabata, Hidenori Kimura

Research output: Contribution to conferencePaperpeer-review

3 Citations (Scopus)


Mechanical manipulators are modeled by a set of coupled nonlinear second order differential equations. If a complete model is available, model-based controllers can decouple and linearize the manipulator dynamics. However, since there is a degree of uncertainty in the manipulator model, a model-based control scheme which is robust against modeling error and disturbance is required. This paper proposes a robust control scheme based on H control theory. The controller consists of a model-based controller followed by a H controller. Given a nominal model of the manipulator dynamics, the model-based controller approximately linearizes the manipulator dynamics. The H controller compensates for disturbances and unmodeled dynamics. Experiments on two link direct drive manipulator exhibit the effectiveness of the proposed H model-based robust control scheme.

Original languageEnglish
Number of pages4
Publication statusPublished - 1992
Externally publishedYes
EventProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2) - San Francisco, CA, USA
Duration: 1992 Jul 131992 Jul 15


OtherProceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1 (of 2)
CitySan Francisco, CA, USA

ASJC Scopus subject areas

  • Engineering(all)


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