Robust control of two link rigid manipulator with nonlinear dynamic model

In this paper, a dynamic model of two link rigid manipulator is derived using the Newton Euler approach. The nonlinear and nominal model of the system are determined using the identification method to quantify the system nonlinearities, which are described by multiplicative uncertainty. In order to achieve robust stability and a good performance against dynamic uncertainties, disturbances and actuator noises, two robust controllers are developed: H» mixed-sensitivity and μ-synthesis controller. A comparative analysis of the two control approaches is established and illustrated by the simulation results.