【摘要】 针对非线性不确定机器人的跟踪控制,提出了一种基于H∞变结构控制的模糊神经网络控制方案。基于模糊神经网络的学习和函数逼近能力,补偿机器人系统的内部不确定性和外干扰,H∞变结构控制提高了机器人对参数不确定性和外部扰动的鲁棒性,削弱了控制输入的抖振.仿真实例证实该控制方案的有效性。更多还原

【Abstract】 A fuzzy neural-network control strategy based on H∞ variable structure for nonlinear uncertain robot trajectory tracking is presented. The learning and function approximation capabilities of fuzzy neural-network compensate the robotic internal uncertainties and external disturbances. The H∞ variable structure control strengthens the robust and weakens the chattering of the control input. Simulation results prove the effectiveness of the control method.更多还原