Robust and Intelligent Feedforward-Feedback Controller Design for Nonlinear Systems

This study presents a novel control framework integrating feedforward (FF) and feedback (FB) strategies for the management of nonlinear systems.The intelligent control component employs a wavelet neural network (WNN) to construct the FF controller.Additionally, the FB loop incorporates H-infinity control, renowned for its robustness and resilience.The controller parameters are optimized using Particle Swarm Optimization (PSO).The proposed control framework's efficacy is evaluated through its application to knee joint motion, assessing both control accuracy and robustness against external disturbances.