Robust control of manipulators using the computed torque plus H∞ compensation method

A new robust control scheme called the computed torque plus H, compensation method is developed to control a robotic manipulator with payload and actuator uncertainties. The method linearises and decouples the nonlinear and coupled dynamic equations of a manipulator by the computed torque approach. Then the remaining uncertainty is compensated by the H, control technique. In the H, control synthesis process the technique of internal weight is applied to select the proper weights. Simulation results indicate that the computed torque plus H, compensation method indeed exhibits better tracking performance than computed torque alone.