Abstract
In this paper we proposed a practical robust control using transformed dynamics. The dynamic model of the flexible manipulator can be split up into two subsystems, however the transformed dynamics is made into one with the singular perturbation standard form. The proposed controller has simple structure, more easy tuning factor, and control forms having direct relation with control performance. The design procedure consists of two parts. A model based computed torque control part, and robust control part to maintain the tracking performance using the nonlinear H-infinity control. The designed robust control is applied to a 6-DOF robot manipulator with joint flexibilities. The proposed robust controller has better tracking performance and advantage in its application.
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