Robust H∞ Control of a Parallel Link Robot Manipulator

Toru Namerikawa, Fumio Matsumura, Masayuki Fujita

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


This paper proposes a linear robust control scheme for robotic trajectory tracking based on the H control theory. The controller consists of a model-based linear robust controller, and it does not employ inverse dynamic computation, hence once the controller has been obtained, computational burden for H controller is relatively small, because the H controller is linear and time invariant and the computational burden is only matrix vector multiplications. Further, the control input is continuous. Therefore, the H controller is suitable for realization of real-time model-based robust control. At first, our experimental manipulator is introduced. Then, the dynamics and model uncertainties of the robot system including actuator are discussed. Dynamic couplings and the gravity forces are treated as the real structured uncertainties. Then, setting up the control objectives in H. Synthesis framework, an H controller is designed with the static constant scaling matrix D to achieve robust performance of the closed-loop system by small gain theorem. Finally, we show the effectiveness of proposed linear robust H control scheme for a robot manipulator with experimental results.

Original languageEnglish
Pages (from-to)207-215
Number of pages9
Journalieej transactions on industry applications
Issue number2
Publication statusPublished - 1996
Externally publishedYes

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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