Experimental evaluation of neural network based controllers for tracking the tip position of a flexible-link manipulator

Author

Talebi, H.A. ; Khorasani, K. ; Patel, R.V.

Author_Institution

Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada

Volume

4

fYear

1997

fDate

20-25 Apr 1997

Firstpage

3300

Abstract

This paper presents neural network based adaptive controllers for a single flexible-link manipulator. The control is designed by using the output re-definition approach. Three different neural network schemes are examined. None of the schemes requires full state measurements. The neural network controllers are implemented on a single flexible-link experimental test-bed. Experimental and simulation results are presented to illustrate the advantages and improved performance of the proposed tip position tracking controllers over the conventional PD-type controller

Keywords

adaptive control; asymptotic stability; control system synthesis; feedback; manipulator dynamics; multilayer perceptrons; neurocontrollers; position control; PD-type controller; adaptive controllers; flexible-link manipulator; neural network based controllers; output re-definition approach; tip position tracking; Adaptive control; Adaptive systems; Computer networks; Control systems; Manipulator dynamics; Neural networks; Orbital robotics; Programmable control; Testing; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.606792

Filename

606792