Nonlinear Adaptive H∞ Output Feedback Tracking Control for Robotic Systems

Abstract: This paper presents a solution to the tracking control problem of robotic systems in the presence of exogenous disturbances and model uncertainty with partial state information. The solution yields a Linear Matrix Inequalities (LMIs) based tracking output feedback controller. The main contribution of this paper lies in its particular approach which facilitates an application of the linear H∞ control theory without linearizing the underlying system. This yields a relatively simple and elegant design procedure. In addition, a relatively low gain controller is achieved. Simulation results of application this control algorithm in a two-degree of freedom robot demonstrates the design procedure feasibility.