Nonlinear adaptive H∞ control for robotic manipulators with motor dynamics

A new class of adaptive nonlinear H_∞ control for electrically-driven robotic manipulators is proposed. Those control schemes are derived as solutions of particular nonlinear H_∞ control problems, where both disturbances and estimation errors of unknown system parameters are regarded as exogenous disturbances to the processes, and the L₂ gains from those uncertainties to generalized outputs are prescribed explicitly. The motor dynamics are also considered to synthesize motor terminal voltages as control inputs.