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		Zhiqiang MIAO,Yaonan WANG.[en_title][J].Control Theory and Technology,2013,11(2):222~229.[Copy]

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ZhiqiangMIAO,YaonanWANG
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(College of Electrical and Information Engineering, Hunan University)

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Received:December 09, 2011Revised:June 03, 2012

基金项目:This work was supported by the National Natural Science Foundation of China (Nos. 60835004, 61175075), and the Hunan Provincial Innovation Foundation for Postgraduate (No. CX2012B147).

Robust dynamic surface control of flexible joint robots using recurrent neural networks

Zhiqiang MIAO,Yaonan WANG

(College of Electrical and Information Engineering, Hunan University)

Abstract:

A robust neuro-adaptive controller for uncertain flexible joint robots is presented. This control scheme integrates H-infinity disturbance attenuation design and recurrent neural network adaptive control technique into the dynamic surface control framework. Two recurrent neural networks are used to adaptively learn the uncertain functions in a flexible joint robot. Then, the effects of approximation error and filter error on the tracking performance are attenuated to a prescribed level by the embedded H-infinity controller, so that the desired H-infinity tracking performance can be achieved. Finally, simulation results verify the effectiveness of the proposed control scheme.

Key words: Dynamic surface control Flexible joint robots Robust H-infinity control Recurrent neural network