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

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.