Optimal path tracking of robot hand via non-linear control and H∞ - optimization

A controller that combines a nonlinear control which externally linearizes and decouples the manipulator dynamics with a linear compensator which minimizes a properly defined tracking error vector is constructed for a given mechanical manipulator in order to optimally track desired trajectories. Our study indicates that when the spectrum of the trajectory to be followed is concentrated on a low frequency range, the resulting linear compensators are of low order and the tracking error is fairly small.