DocumentCode
303355
Title
A robust hybrid controller for robotic manipulators using neural and H∞ techniques
Author
Kalyan, A.R. ; Gopal, M.
Author_Institution
Dept. of Electr. Eng., Indian Inst. of Technol., Delhi, India
Volume
2
fYear
1996
fDate
3-6 Jun 1996
Firstpage
1203
Abstract
A robust hybrid control method that integrates a neural controller, and a H∞ controller is proposed. The neural controller is designed for feedback linearisation and the H∞ controller is used to minimize the effect of parameter uncertainties of the model on the tracking performance. Simulations are provided to show that the disturbances generated from the model error will be quickly compensated and hence more robust performance can be achieved
Keywords
H∞ control; H∞ optimisation; error compensation; feedback; linearisation techniques; manipulator dynamics; neurocontrollers; robust control; tracking; H∞ control; feedback linearisation; model error compensation; neural controller; robotic manipulators; robust hybrid control; tracking; Artificial neural networks; Computational modeling; Error correction; Linear feedback control systems; Manipulators; Neurofeedback; Parameter estimation; Robot control; Robust control; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Neural Networks, 1996., IEEE International Conference on
Conference_Location
Washington, DC
Print_ISBN
0-7803-3210-5
Type
conf
DOI
10.1109/ICNN.1996.549069
Filename
549069
Link To Document