A mixed optimal/robust control for robot manipulators

F. Mnif*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


A mixed optimal/robust control is proposed in this paper for the tracking of rigid robotic systems under parametric uncertainties and external perturbations. The design objective is that under a prescribed disturbance norm level, an optimal control system is to be designed as well as a robust control to overcome the effect of uncertainties. The optimal control is based on the solution of a non-linear Ricatti equation, which, by virtue of the skew symmetry property of manipulators and an adequate choice of state variables, becomes an algebraic equation that is easy to solve. The design of the robust control of the uncertain system is then investigated using a continuous state feedback function. It will be shown that this approach asymptotically stabilizes the uncertain dynamical system globally. Results of simulations performed on a two-degree-of-freedom manipulator are provided to illustrate the validity of the proposed approach.

Original languageEnglish
Pages (from-to)311-321
Number of pages11
JournalProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Issue number4
Publication statusPublished - Jun 2004


  • Manipulators
  • Optimal control
  • Robust control
  • Uncertainties

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering


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