Underactuated manipulator robot control via H2, H∞, H2/H∞, and μ-synthesis approaches: a comparative study

abstract this paper deals with robust control of underactuated manipulator robots. it presents a comparative study of four combined controllers h2, h∞ , h2/h∞ and μ-synthesis, pluscomputed torque method. these controllers are applied in an actual underactuated manipulator robot with 3 degrees of freedom, of which joints can be configured as active or passive ones. the study performed in this paper compares the robustness of each controller when different disturbances are considered.