Abstract
In this paper, comparison study of two robust tracking controllers for robot manipulators, nonlinear H_∞ control and sliding mode control are reported. Even though they are based on different theoretical backgrounds, they have same form of controller except for gains of reference error. In addition, performance analysis of two controllers, especially performance tuning rules based on ultimate bound is conducted. The analysis is about magnitude of norm of reference error and it is verified by simulations using 2-link manipulator. Through the simulations, it can be said that bounds of error can be reduced by tuning rules.
