Robust H-Infinity Control of Delta Parallel Robot with Disturbances

In this paper is presented the results of the research study regarding the robust H-Infinity control with disturbances. The first part of this study consists in the dynamic modeling of the delta parallel robot by the implementation of the Euler-Lagrange mathematical formulation. This dynamic model is obtained from the kinematic model of the delta robot in the task space in order to provide a feasible model for trajectory tracking purposes. The type of control strategy for this delta robot is the robust H-Infinity control in which by the implementation of an appropriate Lyapunov functional the control law is synthesized in order to minimize the error between the reference position and the measured position. In order to meet the H-infinity disturbance rejection properties of the proposed control strategy the necessary robust and disturbance rejection properties are considered. A numerical experiment is provided in order to validate the theoretical results obtained in this research study. Finally the discussion and conclusion of this research study are provided.