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 is presented how to design of a nonlinear H∞ (NL-H∞) controller for flexible joint robot (FJR) based on bounded UKF state estimator . The UKF has more advantages to standard EKF such as low bios and no need to derivations. In this research, based on spong primary model for FJRs, same as rigid robots links position are selected as differential equations variables. Then this model was reformed to HNL differential equations. The results of simulations demonstrate that mixed of HNL controller and UKF estimator lead to conventional properties such as stability and good tracking. Also, Simulation results show the efficiency and superiority of the proposed method in compare with EKF.