$H_{\infty}$ Self-Tuning Control of a Flexible Link Robot with Unknown Payload

미지 부하 질량을 갖는 유연 링크 로봇의 $H_{\infty}$ 자기 동조 제어

A $H_{\infty}$self-tuning control scheme for the tip position of a flexible link robot handling unknown loads is presented here. The scheme essentially comprises a recursive least-squares identification algorithm and $H_{\infty}$self-tunning controller. The $H_{\infty}$control low is designed to be robust to uncertain parameters and the self-tunning action provides adaption to unknown parameters. Through numerical study, the performance comparison of the $H_{\infty}$self-tuning controller with a constant gain $H_{\infty}$controller as well as a LQG self-tuning controller clearly shows its superior ability in handling load changes in quiescent states.nt states.