Inverse optimal H∞ disturbance attenuation of robotic manipulators

This paper deals with an inverse optimal H_∞, disturbance attenuation of the Euler Lagrange systems. The ISS control Lyapunov function is constructed by the energy function of full Lagrangian dynamics, i.e. the Euler-Lagrange systems are input-to-state stabilizability. The ISS-CLF gives us an inverse optimal H_∞ control law. Further, we discuss that the inverse optimal H_∞ controller has robustness against input uncertainties.