The non-fragile guaranteed cost H∞ control of underactuated robots were discussed. The underactuated joints were derived to desired positions by the coupling of joints, and braked. The robot with underactuated joints braked become full-drive system. Combining with the theory of non-fragile guaranteed cost control and the theory of H∞ control, a non-fragile guaranteed cost H∞ control of underactuated robots based on T-S model was provided to make this system capable of handling position tracking. The simulation of a two-link robot shows the validity and the practicality.
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2010, Vol. 21 
