Nonlinear H-infinity position regulator.

The synthesis of a global nonlinear H-infinity position regulator and the L2-gain analysis are studied for robot manipulators. For the global solution, one needs to verify the Hamilton-Jacobi-Isaacs inequality for all initial conditions. The stability analysis of the unperturbed closed-loop system is made in the framework of Lyapunov function, while the robustness analysis is stated by the L2-gain approach. Simulation results, made for an experimental robot, corroborate the developed analysis. Video created by Topacio Osuna and Luis T. Aguilar in CITEDI-Instituto Politecnico Nacional.