Robotic arm joint position control using iterative learning and mixed sensitivity H∞ robust controller

Petrus Sutyasadi, Martinus Bagus Wicaksono


This paper proposes an improved control strategy of a robotic arm joint using hybrid controller consist of H∞ Robust Controller and Iterative Learning Controller. The main advantage of this controller is the simple structure that made it possible to be implemented on a small embedded system for frugal innovation in industrial robotic arm development. Although it has a simple structure, it is a robust H∞ controller that has robust stability and robust performance. The Iterative Learning Controller makes the trajectory tracking even better. To test the effectiveness of the proposed method, computer simulations using Matlab and hardware experiments were conducted. Variation of load was applied to both of the processes to present the uncertainties. The superiority of the proposed controller over the PID controller that usually being used in a low-cost robotic arm development is confirmed that it has better trajectory tracking. The error tracking along the slope of sinusoidal trajectory input was suppressed to zero. The biggest error along the trajectory that happened on every peak of the sinusoidal input, or when the direction is changed has been improved from 15 degrees to 4 degrees. This can be conceived that the proposed controller can be applied to control a low-cost robotic arm joint position which is applicable for small industries or educational purpose.


H∞ robust controller; Iterative learning controller; Robotic arm; SCARA robot



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