An optimal control approach to robust control of robot manipulators

摘要

We present a new optimal control approach to the robust control ofrobot manipulators in the framework of Lin et al. Because of the unknownload placed on a manipulator and the other uncertainties in themanipulator dynamics, it is important to design a robust control lawthat will guarantee the performance of the manipulator under theseuncertainties. To solve this robust control problem, we first translatethe robust control problem into an optimal control problem, where theuncertainties are reflected in the performance index. We then use theoptimal control approach to solve the robust control problem. We showthat the solution to the optimal control problem is indeed a solution tothe robust control problem. We illustrate this approach using atwo-joint SCARA type robot, whose robust control is obtained by solvingan algebraic Riccati equation