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Neural-network-based adaptive H_∞position tracking control for a humanoid robot based on neural network
Authors
刘英卓
王越超
Publication date
1 January 2004
Publisher
东北大学出版社
Abstract
研究一种正交轮式移动车为载体的类人形机器人的建模与控制问题.首先基于分体建模的思想,采用机理建模和神经网络技术相结合的方法建立了动力学模型;然后依据该模型,提出一种新的基于 NN 的自适应 H_∞位置跟踪控制器,使鲁棒非线性 H_∞控制方法自然地与模型的直接自适应神经网络技术集成为一体,并证明了其鲁棒稳定性.最后,仿真研究验证了该方法的正确性和有效性
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Last time updated on 16/09/2020