کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
1705312 | 1012429 | 2010 | 16 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Neural network robust H∞H∞ tracking control strategy for robot manipulators Neural network robust H∞H∞ tracking control strategy for robot manipulators](/preview/png/1705312.png)
A novel neural-network-based robust H∞H∞ control (NNRHC) strategy is proposed for the trajectory following problem of robot manipulators. The proposed system is comprised of a computed torque controller, a variable structure slide (VSS) controller and a neural network robust controller. Based on Lyapunov stability theorem, it is shown that the proposed controller can guarantee H∞H∞ tracking performance of robotic system, in the sense that all variables of the closed-loop system are bounded and the effect due to the external disturbance on the tracking error can be attenuated to any pre-assigned level. The proposed approach indicates that computed torque control method is also valid for controlling robot manipulators with uncertainties as long as a compensative controller is appropriately designed. Both simulation and experimental results show the superior control performance of the proposed neural control method.
Journal: Applied Mathematical Modelling - Volume 34, Issue 7, July 2010, Pages 1823–1838