哈尔滨工业大学学报(英文版)
哈爾濱工業大學學報(英文版)
합이빈공업대학학보(영문판)
JOURNAL OF HARBIN INSTITUTE OF TECHNOLOGY
2004年
5期
569-572
,共4页
温淑焕%蔡建羡%王洪瑞
溫淑煥%蔡建羨%王洪瑞
온숙환%채건이%왕홍서
robotics%force/position control%mixed H2/H∞ control%neural networks
A neural network control scheme with mixed H2/H∞ performance was proposed for robot force/posi-tion control under parameter uncertainties and external disturbances. The mixed H2/H∞ tracking performance ensures both robust stability under a prescribed attenuation level for external disturbance and H2optimal track-ing. The neural network was introduced to adaptively estimate nonlinear uncertainties, improving the system' s performance under parameter uncertainties as well as obtaining the H2/H∞ tracking performance. The simulation shows that the control method performs better even when the system is under large modeling uncertainties and external disturbances.
