Non-fragile H_∞ Control of Manipulator Discrete Delay Systems Based on Observer

For a class of discrete systems with time delays and uncertainties, a non fragile controller based on a state observer is designed. First, the robot system model is introduced and discretized. Secondly, through the Lyapunov stability principle constructor, combined with the linear matrix inequality method, the sufficient conditions for the existence of non fragile controllers are obtained. The linear matrix inequality is solved and the gain parameter expressions of the controller and observer are obtained. Finally, through matlab simulation, the effectiveness and superiority of the non fragile controller for the manipulator system are verified.