Abstract
A new anti-disturbance control strategy is presented for a class of nonlinear robotic systems with multiple disturbances. This strategy is named hierarchical composite anti-disturbance control (HCADC). Two types of disturbances are studied. One is generated by an exogenous system with uncertainty and the other is described by an uncertain vector with the bounded H 2 norm. The hierarchical control strategy is established which includes a disturbance observer based controller (DOBC) and an H ∞ controller, where DOBC is used to reject the first type of disturbance and H ∞ controller is used to attenuate the second. Stability analysis for both the error estimation systems and the composite closed-loop system is provided. Simulations for a two-link manipulator system show that the desired disturbance attenuation and rejection performances can be guaranteed.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
