Nonlinear mixed H2/H∞H2/H∞ control applied to manipulators via actuation redundancy

This paper develops a new control algorithm based on nonlinear techniques, H2H2, H∞H∞, and mixed H2/H∞H2/H∞ via game theory for underactuated manipulators. These controllers are applied in an optimal way, via actuation redundancy, to minimize the energy consumption of the system. Results obtained from an actual manipulator robot are presented.