Nonlinear H ∞ State Feedback Control of Rigid Robot Manipulators
In this paper, nonlinear H ∞ control strategy is applied to control of a two-degree-of-freedom rigid robot manipulator. In order to obtain the nonlinear H ∞ control law, some inequalities so-called Hamilton-Jacobi-Isaacs (HJI) should be solved. It is so difficult, if not impossible, to find an explicit solution for HJI inequalities. However, there are some approximate solutions. One of these possible solutions is the use of Taylor Series expansion of nonlinear terms, which will be used in this paper. Using the obtained nonlinear robust controller, the response of the closed-loop system for tracking of fixed point and oscillating reference signals are obtained. Simulation results show better performance for higher order approximated controller than that of lower order one.
KeywordsTaylor Series Expansion Robot Manipulator State Feedback Control Disturbance Attenuation Order Controller
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