Abstract
This paper presents an observer for robotic systems using FNN method to estimate the joint velocities of a robot, and then H ∞ approach is embedded to attenuate the effect of external distributes and parametric uncertainties of the robotic systems. Then a simulation example of 2-DOF robotic systems is given at last, from the simulation results, we can see the well performance of the designed observer and the estimation errors of the joint velocities are negligible.
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References
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© 2004 Springer-Verlag Berlin Heidelberg
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Wang, Hb., Jiang, Cd., Wang, Hr. (2004). Fuzzy Neural Networks Observer for Robotic Manipulators Based on H ∞ Approach. In: Yin, FL., Wang, J., Guo, C. (eds) Advances in Neural Networks - ISNN 2004. ISNN 2004. Lecture Notes in Computer Science, vol 3174. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-28648-6_4
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DOI: https://doi.org/10.1007/978-3-540-28648-6_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-22843-1
Online ISBN: 978-3-540-28648-6
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