Title: Neural network-based robust H^∞ decentralised control strategy with new learning algorithm for robot manipulators

Authors: Yi Zuo, Yaonan Wang, Lihong Huang, Xinzhi Liu, Xiru Wu, Zengyun Wang

Addresses: College of Electrical and Information Engineering, Hunan University, Changsha, Hunan 410082, PR China; Department of Applied Mathematics, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada. ' College of Electrical and Information Engineering, Hunan University, Changsha, Hunan 410082, PR China; Department of Applied Mathematics, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada. ' College of Mathematics and Econometrics, Hunan University, Changsha, Hunan 410082, PR China. ' Department of Applied Mathematics, University of Waterloo, Waterloo, Ontario, N2L 3G1, Canada. ' College of Electric and Information Technology, Hunan University, Changsha, Hunan 410082, PR China. ' College of Mathematics and Econometrics, Hunan University, Changsha, Hunan 410082, PR China

Abstract: In this paper, a new robust H^∞ intelligent decentralised control (RHIDC) strategy is proposed for the trajectory tracking problem of robot manipulators. The proposed control system is comprised of a computed torque controller and neural robust controller with new learning algorithm. Based on Lyapunov stability theorem and inequality technology, it is shown that the proposed controller can guarantee stability of closed-loop error systems and satisfactory tracking performances. The proposed approach shows that computed torque control method is also valid for controlling uncertain robotic manipulators as long as compensative controller is appropriately designed.

Keywords: computed torque; neural networks; decentralised control; Lyapunov stability theorem; trajectory tracking; robust control; H-infinity control; learning algorithms; robot manipulators; robot control; robot trajectories; uncertainty.

DOI: 10.1504/IJAAC.2010.029834

International Journal of Automation and Control, 2010 Vol.4 No.1, pp.3 - 25

Published online: 02 Dec 2009 *

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