NONLINEAR H_∞ STATE FEEDBACK CONTROL OF ROBOT MANIPULATORS

This paper presents a robust control scheme for robot manipulators with-parameter uncertainties and unknown disturbance, and the scheme uses the so called backstepping technology, by solving a nonlinear-control problem, designs a robust controller, which attenuated the unknown disturbance, and guaranteed the asymptotically stability. Simulations are given for a two-link rigid robot in the end of the paper, and validated the control performances.