Nonlinear H-inf Control with Pid Structure for Robot Manipulators

In this paper the nonlinear H1 con trol for robot manipulators introduced in (F eng, W., P ostleth w aite, I., 1994) is extended. An additional in tegral term is included to cope with persistent disturbances, such as constant weigh ts at theendefecctor. The extended controller is in terpreted like a computed torque control with and external PID, whose gain matrices vary with the position and velocit y of the robot join ts. A particular case of the cost variable weigh ting matrix is studied in which the resulting external nonlinear PID does not depend on the atten uation level of the H1 formulation. Finally, experimental results are presented for the RM-10 industrial robot. Copyright c 2002 IFA C.