中文摘要：

基于H∞混合灵敏度鲁棒控制方法设计了主从机械手的控制器。提出了实用的加权函数选择方法和一种控制器降阶方法。采用MATLAB鲁棒控制工具箱进行仿真实验，结果表明系统在受扰情况下，具有良好的鲁棒稳定性和跟踪性能。

英文摘要：

The controllers are designed based on the mixed-sensitivity H∞ robust control theory. A practical selection of weighting function and the order reduction of the controller are presented. By using the robust control toolbox of MATLAB the H∞ controller is then designed. Simulations show that the controller designed can improve the robustness, stability and the track performance, even if the disturbance exists in the system.