Au Inertia Fluctuation Insensitive Robust Control of Robot Manipulators Based on a Combination of Inertia. Torque Computation Filter and H_∞ Control

Abstract

This paper describes a new robust control of robot manipulators, which guarantees the robust stability against fluctuation of inertia matrix. In this control, the inertia matrix is calculated as computed torque from the Newton-Euler formulation. As the result, the cut-off frequency of the sensitivity function call be set much higher than one of conventional control systems such as disturbance observer based decentralized robust control system.