Energy-Based L2-Disturbance Attenuation Control for Robot Manipulator With Uncertainties and Input Delay
Yong Ren
Institute of Automation, Qufu Normal University, Qufu 273165, P. R. China.
Weiwei Sun *
Institute of Automation, Qufu Normal University, Qufu 273165, P. R. China and School of Electrical Information and Automation, Qufu Normal University, Rizhao 276826, P. R. China.
Baozeng Fu
Institute of Automation, Qufu Normal University, Qufu 273165, P. R. China.
*Author to whom correspondence should be addressed.
Abstract
This paper investigates the problem of 
-disturbance attenuation for robot manipulator with model uncertainty and input time delay. With the idea of shaping potential energy and the method of pre-feedback, a delayed Hamiltonian system structure is obtained for both full actuated and underactuated uncertain robot manipulator with time delay. Then the energy-based adaptive -disturbance attenuation controller is obtained by applying Lyapunov functional method. There spell out some sufficient conditions to guarantee the rationality and validity of the proposed control law. Simulation of a two-link robot manipulator is presented to illustrate the effectiveness of the achieved results in this paper.
Keywords: Hamiltonian system, robot manipulator, L2-disturbance attenuation, pre-feedback, time delay.