کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
700631 | 890898 | 2009 | 8 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Neural network-based H∞H∞ control for fully actuated and underactuated cooperative manipulators Neural network-based H∞H∞ control for fully actuated and underactuated cooperative manipulators](/preview/png/700631.png)
This paper develops H∞H∞ control designs based on neural networks for fully actuated and underactuated cooperative manipulators. The neural networks proposed in this paper only adapt the uncertain dynamics of the robot manipulators. They work as a complement of the nominal model. The H∞H∞ performance index includes the position errors as well the squeeze force errors between the manipulator end-effectors and the object, which represents a complete disturbance rejection scenario. For the underactuated case, the squeeze force control problem is more difficult to solve due to the loss of some degrees of manipulator actuation. Results obtained from an actual cooperative manipulator, which is able to work as a fully actuated and an underactuated manipulator, are presented.
Journal: Control Engineering Practice - Volume 17, Issue 3, March 2009, Pages 418–425