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

@article{Siqueira2007NeuralNH,
  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},
  year={2007},
  pages={3259-3264}
}
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
5 Citations
11 References
Similar Papers

References

Publications referenced by this paper.
Showing 1-10 of 11 references

Neural network-based H∞ tracking control for robotic systems

  • Y. C. Chang
  • IEE Proceedings of Control Theory Applications,
  • 2000
2 Excerpts

Induced L2norm control for lpv systems with bounded parameter variation rates

  • F. Wu, X. H. Yang, A. Packard, G. Becker
  • International Journal of Robust and Nonlinear…
  • 1996
1 Excerpt

A nonlinear H∞ control design in robotic systems under parameter perturbation and external disturbance

  • B. S. Chen, T. S. Lee, J. H. Feng
  • International Journal of Control,
  • 1994
1 Excerpt

Similar Papers

Loading similar papers…