Nonlinear H Control for Uncertain Flexible Joint Robots with Unscented Kalman Filter

Todays, use of combination of two or more methods was considered to control of systems. In this paper ispresented how to design of a nonlinear H∞ (NL-H∞) controller for flexible joint robot (FJR) based on boundedUKF state estimator. The UKF has more advantages to standard EKF such as low bios and no need toderivations. In this research, based on spong primary model for FJRs, same as rigid robots links position areselected as differential equations variables. Then this model was reformed to NL H differential equations.The results of simulations demonstrate that mixed of NL H controller and UKF estimator lead toconventional properties such as stability and good tracking. Also, Simulation results show the efficiency andsuperiority of the proposed method in compare with EKF.