Zennir Youcef2024-06-132024-06-132017-12-011998-0140http://dspace.univ-skikda.dz:4000/handle/123456789/2047The paper presents a new multi-controllers approach with H control applied to control a manipulator robot wrist (Staubli RX-90). A brief description of process and linear mathematical modeling of the process. Principle of multicontrollers approach of control is briefly presented. Our new proposals concerning the type of the controllers used in the multicontroller approach of control and which are one controller based on H control for nonlinear system and linear local models around each operating points. The principal of H control has been described and finally the simulation results obtained approve the efficiency of our design control followed by a conclusion and some perspectives for future work.enArticle