Robust adaptive nonlinear H∞ control for robot manipulators

This paper provides a solution to the tracking problem of a robotic system in terms of a solution to a certain Linear Matrix Inequalities (LMIs), and in the presence of both exogenous disturbance and model uncertainties. Although this problem has been investigated extensively and numerous results are now available, the contribution of this paper is in its unique approach which consists of transforming the nonlinear underlying problem into a linear one, and thus achieving a simple and elegant solution by means of a linear H_infin control theory.