Disturbance attenuation and set-point regulation of rigid robots via H/sub ∞/ control

Proposes a possible strategy for disturbance attenuation and set-point regulation for a rigid robot using the notion of L2-gain of a system. The authors discuss the use of H∞ control for trajectory tracking and show, for the particular case of rigid robots, that a PD type controller is sufficient to render the closed loop system from the exogenous input (disturbances and references) to the error variable dissipative with respect to the supply rate associated with the notion of L2-gain