On Design of a H∞ Controller for a Flexible Link Robotic Manipulator

Abstract

The paper presents a novel composite control scheme that is a superposition of a non-linear neural network controller (based on the slow dynamics) and a linear controller (based on the fast dynamics) for a manipulator with flexible links and joints. The controller is robust in the face of uncertainties existing in both the slow and the fast dynamics which may be due to the inexactness in achieving the two-time-scale separation of the two subsystems (slow and fast) and unmodelled dynamics in the fast subsystem owing to model truncation. The performance of the proposed controller has been examined by numerical simulations.