ZHU Yonghong, HU Honghao

（Jingdezhen Ceramic Institute‚333001）

Abstract: Based on Lyapunov backstepping design‚a robust H∞ adaptive controller for2degree of freedom electrically－driven ceramic manipulator with uncertainty and disturbance is derived．The tracking performance is evaluated by L2－gain form a torque level disturbance signal to penalty singal of the tracking error between outputs of the manipulator and desired trajectories．The controller designed guarantees that the tracking error closed－loop system is globally stable in the sense of uniform ultimate bounded stability and L2－gain is not large than a prescribed value．Our approach provides a closed－form solution for ceramic manipulator H∞ adaptive control problem without solving Hamilton－Jacobi－Issac（HJI） inequality．Simulation results shows that the controller exhibits an excellent tracking performance and adaptive robustness．

Keywords: ceramic manipulator‚robust H∞ control‚adaptive control‚backstepping design‚uncertainty