Robust model following control with L2-gain performance for robot manipulators

We propose a robust model following control scheme for a rigid body robot manipulator. A state feedback controller is designed based on the robust H_∞ control synthesis so as to guarantee robust stability and robust performance of a descriptor form model following error equation in the presence of uncertain nonlinear perturbations. The proposed control scheme is applied to a two-link direct drive manipulator. Experiments are carried out to evaluate the tracking performance of the manipulator, and the results obtained show the effectiveness and robustness of the proposed controller