Self tuning of computed torque gains by using neural networks with flexible structures

The paper principally describes the design of an artificial neural network using flexible sigmoid unit functions (FSUFs), referred to as flexible sigmoid function networks (FSFNs), to achieve both a high flexibility and a high learning ability in neural network structures from a given set of teaching patterns. An FSFN can generate an appropriate shape of the sigmoid function for each of the individual hidden- and output-layer units, in accordance with the specified inputs, desired output(s) and applied system. The paper proposes a learning method in which not only connection weights but also the sigmoid functions may be adjusted. The learning algorithm is derived by using the well known back-propagation algorithm. To demonstrate the validity of the proposed method, we apply the FSFN to the construction of a self-tuning computed torque controller for a two-link manipulator. It is then shown that the controller based on the FSFN gives a better control performance than that based on the traditional neural network