Backstepping-based H∞ Tracking Control for Single-link Flexible Joint Manipulators

In this paper, the H∞ tracking control problem is studied for a class of single-link flexible-joint manipulators with external disturbances. Aiming at a state space model of the flexible-joint manipulator system with strict feedback form, the H∞ tracking controller of the system is designed based on backstepping method, robust H∞ control theory and Lyapunov stability theory. The obtained controller can ensure that the closed-loop manipulator system can track precisely the given reference input signal, the tracking error can convergence to origin, and the system has robustness to external disturbances. The simulation results show the effectiveness of the proposed method.