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Robust control of manipulators using the computed torque plus H compensation method

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2 Author(s)
G. -W. Lee ; Electron. Div., Chung Shan Inst. of Sci. & Technol., Lung-Tan, Taiwan ; F. -T. Cheng

A new robust control scheme called the computed torque plus H compensation method is developed to control a robotic manipulator with payload and actuator uncertainties. The method linearises and decouples the nonlinear and coupled dynamic equations of a manipulator by the computed torque approach. Then the remaining uncertainty is compensated by the H control technique. In the H control synthesis process the technique of internal weight is applied to select the proper weights. Simulation results indicate that the computed torque plus H compensation method indeed exhibits better performance than computed torque

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IEE Proceedings - Control Theory and Applications  (Volume:143 ,  Issue: 1 )