Fuzzy-supervised nonlinear $H_{\infty}$ controller design for robot manipulator

로봇 매니퓰레이터를 위한 퍼지 감독자 비선형 $H_{\infty}$ 제어기의 설계

In this paper, we propose a fuzzy-supervised nonlinear H$_{\infty}$ controller which guarantees the robustness and has exact tracking performance for robot manipulator with system parameter uncertainty and exogenous disturbance, The proposed controller which is based on robotic H$_{\infty}$ controller has fuzzy supervisor which decides the optimal control input weighting value through fuzzy making-decision process. Owing to the fuzzy supervisor, The proposed controller can take the optimal control input. Then, we will apply the proposed controller to rigid robot manipulator to verify the performance of our controller.r.