Control Robusto H∞ en forma Global para Robot Manipulador

In this paper is proposed a solution to the tracking problem with robust H_∞ global control, applied to robot manipulator completely actuated with rotational joint in presence of external disturbances. The Hamilton-Jacobi-Isaacs inequality is verified by a strict function of Lyapunov and enough conditions will be found under which the equilibrium point of the closed-loop system is asymptotically stable globally while the disturbed system has a gain L_2 less than or equal to a predetermined constant. Currently, one of the disadvantages of the H_∞ control, with respect to other control techniques, is the linearization of the system around a point of equilibrium, which converts the Hamilton-Jacobi-Isaacs inequality into algebraic of Riccati equations, which facilitate the solution to the motion control problem H_∞, however, the controller becomes local. Now, through a strict function of Lyapunov it was possible to verify that the Hamilton-Jacobi-Isaacs inequality is satisfied globally. The theory is validated in a robot manipulator with l degree of freedom.