File Download
There are no files associated with this item.
Supplementary
-
Citations:
- Scopus: 0
- Appears in Collections:
Conference Paper: Neural-network-based adaptive H∞ position tracking control for a humanoid robot based on neural network
Title | Neural-network-based adaptive H∞ position tracking control for a humanoid robot based on neural network |
---|---|
Authors | |
Keywords | Humanoid robot Adaptive neural networks H∞ performance |
Issue Date | 2004 |
Citation | Proceedings of the 2004 Chinese Control and Decision Conference (16thCDC), 2004, p. 853-856 How to Cite? |
Abstract | System modeling and controller problems are studied for a humanoid with a holonomic omnidirectional platform consisted of three lateral orthogonal wheel assemblies. Based on decentralized-body modeling idea, the relative accuracy of mechanism modeling method is combined with the advantage of connectionism of the neural network for the modeling of this humanoid robot. Using the resulting model, a new neural-network-based adaptive H∞ position tracking controller is proposed. The robust nonlinear H∞ control approach and model direct adaptive neural network technique are integrated together naturally. The closed-loop system robust stability is proved. The simulation results indicate that the proposed methodology is valid and effective. |
Persistent Identifier | http://hdl.handle.net/10722/212986 |
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Liu, Ying Zhuo | - |
dc.contributor.author | Wang, Yue Chao | - |
dc.contributor.author | Xi, Ning | - |
dc.date.accessioned | 2015-07-28T04:05:40Z | - |
dc.date.available | 2015-07-28T04:05:40Z | - |
dc.date.issued | 2004 | - |
dc.identifier.citation | Proceedings of the 2004 Chinese Control and Decision Conference (16thCDC), 2004, p. 853-856 | - |
dc.identifier.uri | http://hdl.handle.net/10722/212986 | - |
dc.description.abstract | System modeling and controller problems are studied for a humanoid with a holonomic omnidirectional platform consisted of three lateral orthogonal wheel assemblies. Based on decentralized-body modeling idea, the relative accuracy of mechanism modeling method is combined with the advantage of connectionism of the neural network for the modeling of this humanoid robot. Using the resulting model, a new neural-network-based adaptive H∞ position tracking controller is proposed. The robust nonlinear H∞ control approach and model direct adaptive neural network technique are integrated together naturally. The closed-loop system robust stability is proved. The simulation results indicate that the proposed methodology is valid and effective. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings of the 2004 Chinese Control and Decision Conference (16thCDC) | - |
dc.subject | Humanoid robot | - |
dc.subject | Adaptive neural networks | - |
dc.subject | H∞ performance | - |
dc.title | Neural-network-based adaptive H∞ position tracking control for a humanoid robot based on neural network | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.scopus | eid_2-s2.0-4744344724 | - |
dc.identifier.spage | 853 | - |
dc.identifier.epage | 856 | - |