Robust linear motion control of flexible joint robots. II. Control

This paper presents the development of a robust linear motion tracking controller for the linear robot model, derived in Part I for an experimental flexible joint robot. The proposed controller is designed using linear robust control methodologies: linear quadratic Gaussian/loop transfer recovery techniques. Extensive simulations are performed, and the results demonstrate that the proposed controller provides excellent tracking performance and very high disturbance rejection in the presence of parameter uncertainties, unmodeled dynamics, and measurement noise