로봇 매니퓰레이터의 강인제어를 위한 최적제어로의 접근

An Optimal Control Approach to Robust Control of Robot Manipulators

An optimal control approach to robust control design is proposed in this study for rigid robotic systems under the unknown load and the other uncertainties. The uncertainties are quadratically bounded for some positive definite matrix. Iterative method to find the matrix is shown. Simulations arc made for a weight-lifting operation of a two-link manipulator and the robust control performance of robotic systems by the proposed algorithm is remarkable.