Simplified robust control of an anthropomorphic leg

The paper presents a robust command following position control of a three-DOF leg in the joint space. Due to specific features of both the robust control and the motion control system in general, a simplification of the control via the system decomposition to a double integrator plant for each degree of freedom is provided. It is shown, that the desired accuracy of the command tracking is assured despite the presence of signal disturbances and the parameter uncertainty, the limitation of the joint velocities and accelerations as well as the driving torque boundary. Matlab simulation illustrates the expected performance of the control algorithm.