哈尔滨工业大学学报（英文版）2004，Vol.11Issue(5)：569-572,4.
Hybrid H2/H∞ force/position control based on neural networks
Hybrid H2/H∞ force/position control based on neural networks
摘要
Abstract
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.关键词
robotics/force/position control/mixed H2/H∞ control/neural networksKey words
robotics/force/position control/mixed H2/H∞ control/neural networks分类
信息技术与安全科学引用本文复制引用
温淑焕,蔡建羡,王洪瑞..Hybrid H2/H∞ force/position control based on neural networks[J].哈尔滨工业大学学报（英文版）,2004,11(5):569-572,4.基金项目
Sponsored by the Hebei Province Science Technology Tackling Key Problem Item( Grant No. A393). （ Grant No. A393）
