Neural Network-based H Control for Fully Actuated and Underactuated Cooperative Manipulators

  title={Neural Network-based H Control for Fully Actuated and Underactuated Cooperative Manipulators},
  author={A. A. G. Siqueira and M. H. Terra},
  journal={2007 American Control Conference},
This paper develops an Hinfin control based on neural networks for fully actuated and underactuated cooperative manipulators. The neural networks proposed in this paper adapt only the uncertain dynamics of the robot manipulators, actuating as a complement of the nominal model. The Hinfin performance index includes the position errors as well the squeeze force errors between the manipulators end-effectors and the object, which represents a complete disturbance rejection scenario. For the… CONTINUE READING
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