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Robust hybrid controller for robotic manipulators using neural and H∞ techniques
A.R. Kalyan,
Published in IEEE, Piscataway, NJ, United States
Volume: 2
Pages: 1203 - 1208
A robust hybrid control method that integrates a neural controller, and a H∞ controller is proposed. The neural controller is designed for feedback linearization 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.
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Published in IEEE, Piscataway, NJ, United States
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