Nonlinear H Control for Uncertain Flexible Joint Robots with Unscented Kalman Filter

Abstract

Todays, use of combination of two or more methods was considered to control of systems. In this paper is<br />presented how to design of a nonlinear H∞ (NL-H∞) controller for flexible joint robot (FJR) based on bounded<br />UKF state estimator. The UKF has more advantages to standard EKF such as low bios and no need to<br />derivations. In this research, based on spong primary model for FJRs, same as rigid robots links position are<br />selected as differential equations variables. Then this model was reformed to NL H differential equations.<br />The results of simulations demonstrate that mixed of NL H controller and UKF estimator lead to<br />conventional properties such as stability and good tracking. Also, Simulation results show the efficiency and<br />superiority of the proposed method in compare with EKF.