Robust guaranteed cost control of uncertain nonlinear robotic system using mixed minimum time and quadratic performance index

To provide better transient performance in controlling robots, the mixed minimum-time and quadratic performance index is used. For known or uncertain revolute robot manipulators, conventional optimal control and robust guaranteed cost control are proposed, respectively. Asymptotic stability is also discussed based an Lyapunov direct method. The proposed robust control is continuous and requires no knowledge of uncertain system except bounding functions