Robust H∞ intelligent tracking control for robot manipulators
A novel robust Hinfin intelligent control (RHIC) strategy is proposed for the trajectory following problem of robot manipulators. The proposed system is comprised of a computed torque controller and neural robust controller. Based on Lyapunov stability theorem, it is shown that the proposed controller can guarantee Hinfin tracking performance of robotic system, in the sense that all variables of the closed-loop system are bounded and the effect due to the external disturbance on the tracking error can be attenuated to any pre-assigned level. The proposed approach indicates that computed torque control method is also valid for controlling uncertain robotic manipulators as long as compensative controller is appropriately designed.