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
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;
Conference_Titel :
Neural Networks, 1996., IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-3210-5
DOI :
10.1109/ICNN.1996.549069
