Application of H-infinity theory to robot manipulator control

The feasibility of H-infinity control theory for robot manipulator control is investigated. Given a model of manipulator dynamics, a control methodology is developed which utilizes an inner loop linearizing decoupling feedback control and an H-infinity outer loop compensator. A methodology for handling model simplifications in the linearizing feedback loop is also developed. An example control design is presented along with simulation results. Robust tracking of trajectories is shown, given bounds on model parameters