A Control System Design of a Single-Link Manipulator Using H∞ Control theory

This paper is concerned with a control system design of a vertical type single-link manipulator. One designing method using H ∞ control theory, which considers effects of gravity in a design specification, is proposed. In our design method we regard effects of gravity on dynamics of the manipulator as a disturbance at plant input. We consider reducing the H ∞ -norm of a transfer function from this disturbance to plant output as much as possible in order to reject effects of gravity. A numerical result shows that our design method achieves better tracking performance than the mixed sensitivity method which is a conventional method when H ∞ control theory is applied to a control system design.