Trajectory control of two degree of freedom direct drive manipulator using scheduled H∞ control

To achieve high performance control of a nonlinear plant such as DD (direct drive) manipulators, the disturbance force added on each joint and the nonlinear forces such as gravity and interacting forces should be compensated. Previously, the scheduled H_∞ control, which guarantees global stability and high performance for nonlinear plants, has been investigated. We propose a control of DD manipulators using the scheduled H_∞ control. Firstly, we treat the DD manipulators as a linear system with scheduling parameters. Secondly, we apply the scheduled H_∞ control to it. Finally, we verify the effectiveness by some experiments