Adaptive H∞ controller based on GA-hybrid wavelet RBF for robot arm

Author

Ahmadi, Behzad ; Nourisola, Hamid

Author_Institution

Dept. of Electr. Control Eng., Univ. of Tabriz, Tabriz, Iran

fYear

2014

fDate

15-17 Oct. 2014

Firstpage

730

Lastpage

735

Abstract

This paper proposes an adaptive H_∞ control schemes based on a GA-hybrid wavelet RBF for tracking control of a two link robot arm. In this control scheme, GA-hybrid wavelet RBF is employed to construct the adaptive controller. A binary genetic algorithm (GA) is proposed to identify the wavelet RBF kernel function parameters. The most important characteristic of the proposed control scheme is its inherent robustness and its ability to handle the nonlinear behavior of the system. Finally, some simulation results are presented to show the utility of our proposed method.

Keywords

H^∞ control; adaptive control; genetic algorithms; manipulators; radial basis function networks; GA-hybrid wavelet RBF; adaptive H_∞ controller; adaptive controller; binary genetic algorithm; nonlinear behavior; tracking control; two link robot arm; wavelet RBF kernel function parameters; Equations; Function approximation; Genetic algorithms; Kernel; Mathematical model; Robots; Binary Genetic Algorithm; Two-Link Robot Arm; adaptive H∞ control; hybrid Wavelet-RBF;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on

Conference_Location

Tehran

Type

conf

DOI

10.1109/ICRoM.2014.6990990

Filename

6990990