Robust H/spl infin/ Controller Design of Two-link Robots

This paper utilizes the H/spl infin/ synthesis for the dynamic control of two link robots system. The nonlinear robot dynamic equations are described and linearized around an operating point. The system is formulated in state space form and stabilized with a control torque scheme in which the robot motion is controlled by controlling the torque of a DC motor drive at each joint of the robot arms. Performance objectives as well as modelling errors are incorporated in the framework of controller design through choice of appropriate weighting transfer functions in the H/spl infin/ synthesis procedure. Numerous simulation results are presented to evaluate the performance and robustness of the H/spl infin/ cent roller for the two-link robots system.