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Adaptive H∞ controller based on GA-hybrid wavelet RBF for robot arm

This paper proposes an adaptive H∞ control schemes based on a GA-hybrid wavelet RBF for tracking control of a two link robot arm. In this control scheme, GA-hybrid wavelet RBF is employed to construct the adaptive controller. A binary genetic algorithm (GA) is proposed to identify the wavelet RBF kernel function parameters. The most important characteristic of the proposed control scheme is its inherent robustness and its ability to handle the nonlinear behavior of the system. Finally, some simulation results are presented to show the utility of our proposed method.