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This paper introduces a new disturbance decoupling and rejection method based on robust control framework for a robot system with multiple arms. While in action, the movement of one individual arm of the robot system affects the motion of the other joint, which brings the control performance down. In order to compensate and keep the desirable control performance, the authors designed a double active control system which can effectively reject the direct mutual disturbances. The designed control system consists of two controllers, the first one is an inner loop controller and works as a disturbance observer that attenuates the disturbances. The second one, on the other hand, is an outer loop controller, which was designed based on H∞ control theory to maintain the system stability and a robust control performance under the uncertainty. The combined control system is applied, simulation and experimental results show that the proposed control system effectively suppress the mutual disturbances, and an enhanced tracking performance is obtained.

ROBUST DOUBLE ACTIVE CONTROL SYSTEM DESIGN FOR DISTURBANCE REJECTION