Nonlinear adaptive H∞ control for robotic manipulators with motor dynamics

A new class of adaptive nonlinear H-infinity control for electrically-driven robotic manipulators is proposed in this manuscript. Those control schemes axe derived as solutions of particular nonlinear H-infinity control problems, where both disturbances and estimation errors of unknown system parameters axe regarded as exogenous disturbances to the processes, and the L-2 gains from those uncertainties to generalized outputs are prescribed explicitly. The motor dynamics are also considered to synthesize motor terminal voltages as control inputs.