Robust Control of Cooperative Manipulators

  • Adriano A. G. Siqueira
  • Marco H. Terra
  • Marcel Bergerman


In this chapter we present three nonlinear \({\mathcal{H}}_{\infty}\) control techniques for underactuated cooperative manipulators. Two are based on a quasi-linear parameter varying (quasi-LPV) representation of the nonlinear system with solutions based on game theory. These controllers take into account a fundamental characteristic of cooperative manipulator control, namely, that squeeze force control is designed independently of position control. In these cases, only the position control problem is reflected in the \({\mathcal{H}}_{\infty}\) performance index. The third controller uses a neural network-based adaptive control law to estimate the parametric uncertainties of the system. In this case, the \({\mathcal{H}}_{\infty}\) performance index includes both the position and squeeze force errors of the cooperative manipulators.


Kinematic Constraint Symmetric Positive Definite Matrix Nonlinear Controller Linear Parameter Vary Passive Joint 
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Copyright information

© Springer-Verlag London Limited 2011

Authors and Affiliations

  • Adriano A. G. Siqueira
    • 1
  • Marco H. Terra
    • 1
  • Marcel Bergerman
    • 2
  1. 1.Engineering School of São CarlosUniversity of São PauloSão CarlosBrazil
  2. 2.CMU Robotics InstitutePittsburghUSA

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